The invention relates to the technical field of automatic driving, and discloses a decision-making method and device for automatic driving equipment, the equipment and a readable storage medium. The method comprises the following steps: acquiring local environment state information corresponding to each piece of automatic driving equipment, driving actions of each piece of automatic driving equipment, return parameter values for executing the driving actions and local update environment state information; determining a learning action value of a vehicle group corresponding to each automatic driving device based on the local environment state information and the driving action corresponding to each automatic driving device; determining a target action value of the vehicle group based on the return parameter value and the local update environment state information after each automatic driving device executes the driving action; and updating a driving decision strategy of the vehicle group based on the learning action value and the target action value. According to the invention, the updating of the vehicle group driving decision strategy is realized, the explosion problem of the training dimension is avoided, and the safety and the high efficiency of the driving decision strategy are improved.

    本发明涉及自动驾驶技术领域,公开了一种自动驾驶设备的决策方法、装置、设备及可读存储介质。其中,该方法包括:获取各个自动驾驶设备对应的局部环境状态信息、各个自动驾驶设备的驾驶动作、执行驾驶动作的回报参数值以及局部更新环境状态信息;基于各个自动驾驶设备对应的局部环境状态信息以及驾驶动作,确定各个自动驾驶设备所对应车群的学习动作价值;基于各个自动驾驶设备执行驾驶动作后的回报参数值以及局部更新环境状态信息,确定车群的目标动作价值;基于学习动作价值以及目标动作价值,更新车群的驾驶决策策略。通过实施本发明,实现了车群驾驶决策策略的更新,避免了训练维度的爆炸问题,提高了驾驶决策策略的安全性和高效性。


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    Title :

    Decision-making method, device and equipment for automatic driving equipment and readable storage medium


    Additional title:

    自动驾驶设备的决策方法、装置、设备及可读存储介质


    Contributors:
    ZHAO YAQIAN (author) / LI RENGANG (author) / LU LU (author) / LI RUYANG (author) / ZHANG YAQIANG (author) / XU ZHE (author) / NIU SHENGREN (author)

    Publication date :

    2022-03-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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