The invention provides an automatic driving decision-making method, a model training method, a related device and electronic equipment, and relates to the technical field of data processing, in particular to the technical field of automatic driving. According to the specific implementation scheme, under the condition that interaction between a vehicle and a first obstacle is detected, a first scene feature and a first state when the vehicle interacts with the first obstacle are obtained; determining a first interaction key parameter corresponding to the first scene feature, wherein the first interaction key parameter is used for evaluating the driving behavior of the vehicle when interacting with the first obstacle; based on the first state, constructing a first game tree for simulating interaction between the vehicle and the first obstacle; and under the condition that the interaction simulation of the vehicle and the first obstacle is finished, based on the first game tree and the first interaction key parameter, determining a target behavior decision of the vehicle when the vehicle interacts with the first obstacle.

    本公开提供了一种自动驾驶决策方法、模型训练方法、相关装置及电子设备,涉及数据处理技术领域,具体涉及自动驾驶技术领域。具体实现方案为:在检测到车辆与第一障碍物存在交互的情况下,获取所述车辆与所述第一障碍物交互时的第一场景特征和第一状态;确定与所述第一场景特征对应的第一交互关键参数,所述第一交互关键参数用于对与所述第一障碍物交互时所述车辆的驾驶行为进行评估;基于所述第一状态,构建用于模拟所述车辆与所述第一障碍物交互的第一博弈树;在所述车辆与所述第一障碍物的交互模拟结束的情况下,基于所述第一博弈树和所述第一交互关键参数,确定与所述第一障碍物交互时所述车辆的目标行为决策。


    Access

    Download


    Export, share and cite



    Title :

    Automatic driving decision-making method, model training method, related device and electronic equipment


    Additional title:

    自动驾驶决策方法、模型训练方法、相关装置及电子设备


    Contributors:
    ZHAO HAOWEI (author) / HE JIAPING (author) / ZHANG YUJIE (author) / LEE IL-HYUN (author) / LIU CHANGCHUN (author)

    Publication date :

    2022-12-16


    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 / G09B Unterrichts- oder Vorführungsgeräte , EDUCATIONAL OR DEMONSTRATION APPLIANCES



    Automatic driving decision-making method and device, electronic equipment and automatic driving vehicle

    ZHOU XIANGPO / YANG HUANGRONG / XIA ZHONGPU | European Patent Office | 2023

    Free access

    Automatic driving lane changing decision-making and model training method, device, equipment and vehicle

    PAN AN / WANG ZEXU / LIU JINGKAI et al. | European Patent Office | 2024

    Free access

    Automatic driving method, related model training method, electronic equipment and storage medium

    XU XUNNONG / LIU XUAN / SHEN ZHENRUI | European Patent Office | 2022

    Free access

    Automatic driving decision-making method and device, electronic equipment and storage medium

    YAN LIRONG / HU YUFENG / YIN ZHISHUAI et al. | European Patent Office | 2023

    Free access

    Automatic driving decision-making method and device, electronic equipment and storage medium

    YAN LIRONG / HU YUFENG / YIN ZHISHUAI et al. | European Patent Office | 2023

    Free access