To provide a speed planning method for automatic driving, an apparatus, a device, and a medium, where the present application relates to artificial intelligence technologies such as automatic driving and deep learning.SOLUTION: A specific implementation form includes: acquiring a current state of a vehicle comprising at least remaining running distance and current speed; and interpolating actions including at least acceleration based on the current state and a predetermined state table to obtain a target action of the current state, where the state table is determined based on a reinforcement learning method and comprises a plurality of states and a respective action performed in each state. The present application uses a method of table lookup instead of a neural network, and first can determine a state table in an offline manner and then can determine a target operation of the current state in an online query manner, thus ensuring that an optimal solution for the entire course of a speed plan is obtained without occupying a large amount of computational resources.SELECTED DRAWING: Figure 1
【課題】本願は、自動運転のための速度計画方法、装置、デバイス及び媒体を開示し、自動運転及び深層学習などの人工知能技術に関する。【解決手段】具体的な実現形態は、少なくとも残余の走行距離及び現在速度を含む車両の現在状態を取得することと、前記現在状態及び予め定められた状態テーブルに基づいて、少なくとも加速度を含む動作に対して補間を行い、前記現在状態の目標動作を得て、前記状態テーブルは強化学習方法に基づいて決定され、複数の状態及び各状態で実行される動作を含むことと、を含む。本願はニューラルネットワークの代わりにテーブルルックアップの方式を使用し、先ずオフラインで状態テーブルを決定し、次にオンライン照会の方式で現在状態の目標動作を決定ことができるため、大量の計算リソースを占用せずに、速度計画の全過程の最適解を得ることを確保できる。【選択図】図1
SPEED PLANNING METHOD FOR AUTOMATIC DRIVING, APPARATUS, DEVICE, MEDIUM, AND VEHICLE
自動運転のための速度計画方法、装置、デバイス、媒体及び車両
2022-05-18
Patent
Elektronische Ressource
Japanisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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