The invention provides a driving track planning method, and relates to the technical field of computers, in particular to the technical field of artificial intelligence such as automatic driving and machine learning. According to the specific implementation scheme, an objective function of an intersection scene is constructed based on a first return function corresponding to a historical driving track of the same intersection scene and a second return function corresponding to an optimal driving strategy; the first reward function and the second reward function are determined based on one or more state functions related to the intersection scene, the value of an associated parameter of the first reward function is known, and the value of an associated parameter of the second reward function is unknown; and based on the target function, obtaining a value of an associated parameter of a state function of the second return function so as to plan a driving track of the vehicle at an intersection corresponding to the intersection scene. According to the embodiment of the invention, the second return function of the optimal driving strategy obtained through inverse reinforcement learning is more accurate and is more related to the characteristics of the intersection scene, and the accuracy of driving track planning is improved.
本公开提供了一种行驶轨迹规划方法,涉及计算机技术领域,尤其涉及自动驾驶、机器学习等人工智能技术领域。具体实现方案为:基于同一路口场景的历史行驶轨迹对应的第一回报函数和最优行驶策略对应的第二回报函数,构建该路口场景的目标函数;该第一回报函数和该第二回报函数基于与该路口场景相关的一个或多个状态函数确定,且该第一回报函数的关联参数的值已知,该第二回报函数的关联参数的值未知;基于该目标函数,得到该第二回报函数的状态函数的关联参数的值,以对车辆在该路口场景对应路口的行驶轨迹进行规划。本公开实施例通过逆强化学习得到的最优行驶策略的第二回报函数更准确且与路口场景的特征更相关,有利于提高行驶轨迹规划的准确性。
Driving track planning method and device and storage medium
一种行驶轨迹规划方法、装置及存储介质
2024-03-05
Patent
Elektronische Ressource
Chinesisch
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