The invention provides a lane changing decision determination method and device, electronic equipment and a storage medium, and belongs to the technical field of automatic driving, and the method comprises the steps: obtaining decision information which comprises a plurality of lane changing decisions, and based on the decision information, a deep reinforcement learning model and a preset rule for constraining an output result of the deep reinforcement learning model, assigning each lane changing decision, outputting a decision probability of each lane changing decision, and finally, based on the decision probability, determining the lane changing decision with the maximum decision probability as a target lane changing decision. And indicating the target vehicle to change the lane according to the target lane change decision. The problem that a lane changing decision determination method in the related technology is low in safety is solved. The effect of improving the safety of the lane changing decision determination method is achieved.

    本申请提供一种换道决策确定方法、装置、电子设备及存储介质,属于自动驾驶技术领域,该方法包括:获取决策信息,所述决策信息中包括多个换道决策,基于所述决策信息、深度强化学习模型以及用于约束深度强化学习模型输出结果的预设规则,对各所述换道决策进行赋值,输出各换道决策的决策概率,最后基于所述决策概率,将所述决策概率最大的换道决策确定为目标换道决策,以指示目标车辆根据所述目标换道决策进行。解决了相关技术中换道决策确定方法安全性较低的问题。达到了提高换道决策确定方法安全性的效果。


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    Title :

    Lane changing decision determination method and device, electronic equipment and storage medium


    Additional title:

    换道决策确定方法、装置、电子设备及存储介质


    Contributors:
    PAN QILONG (author)

    Publication date :

    2023-03-24


    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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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