The invention provides a vehicle behavior decision-making method, device and equipment and a readable storage medium. The method comprises the steps that an expert rule base is constructed based on a historical driving environment and a historical decision instruction of a vehicle, and the driving environment comprises a lane where the vehicle is located and the obstacle condition of each lane; training the valuation network based on the expert rule base and the driving environment of the vehicle in the training process until the number of training times reaches a preset number of times, and obtaining a trained valuation network; and inputting the driving environment of the vehicle at the current moment into the trained valuation network to obtain a decision instruction output by the trained valuation network. According to the invention, the problem that the current vehicle is difficult to make reasonable decision control in a complex space environment is solved.

    本发明提供一种车辆行为决策方法、装置、设备及可读存储介质。该方法包括:基于车辆的历史行驶环境以及历史决策指令构建专家规则库,其中,所述行驶环境包括车辆所在车道以及各个车道障碍物情况;基于所述专家规则库以及车辆在训练过程中的行驶环境对估值网络进行训练,直至训练次数达到预设次数时,得到训练完成的估值网络;将车辆当前时刻的行驶环境输入训练完成的估值网络中,得到训练完成的估值网络输出的决策指令。通过本发明,解决了目前车辆在复杂的空间环境中难以做出合理的决策控制的问题。


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    Title :

    Vehicle behavior decision-making method, device and equipment and readable storage medium


    Additional title:

    车辆行为决策方法、装置、设备及可读存储介质


    Contributors:
    WANG BEIBEI (author) / XU XIN (author) / LI ZHAOGAN (author) / YIN ZHENG (author) / WANG RONGRONG (author) / BI YAMENG (author)

    Publication date :

    2023-05-05


    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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