The invention discloses a driving strategy model training method and an automatic driving control method, and is suitable for the technical field of automatic driving. The method comprises the following steps: acquiring a candidate driving strategy model; the candidate driving strategy model is obtained by training according to a plurality of virtual training tasks; calculating the task similarity between each real training task and the virtual training task; executing a driving interaction process by adopting a candidate driving strategy model in each real training task to obtain a real training execution action corresponding to each piece of real training state information and a real training reward corresponding to the real training execution action; and according to the real training reward and the task similarity, updating parameters of the candidate driving strategy model to obtain a target driving strategy model. By adopting the method, the target driving strategy model obtained by training can adapt to a real driving task, and automatic driving of the vehicle can be completed in the real driving task, so that an expected effect is achieved in practical application.
本发明揭示了一种行驶策略模型训练方法以及自动驾驶的控制方法,适用于自动驾驶技术领域。该方法包括:获取候选行驶策略模型;候选行驶策略模型根据多个虚拟训练任务训练得到;计算各真实训练任务与虚拟训练任务之间的任务相似性;在各真实训练任务中采取候选行驶策略模型执行行驶交互过程,得到各真实训练状态信息对应的真实训练执行动作以及真实训练执行动作对应的真实训练奖励;根据真实训练奖励以及任务相似性,更新候选行驶策略模型的参数,得到目标行驶策略模型。采用该方法,可以使得训练得到的目标行驶策略模型能够适应真实驾驶任务,并可以在真实驾驶任务中完成车辆自动驾驶,从而在实际应用中达到预期的效果。
Driving strategy model training method and automatic driving control method
行驶策略模型训练方法以及自动驾驶的控制方法
2022-03-11
Patent
Electronic Resource
Chinese
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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