The invention discloses a structured road vehicle trajectory planning method based on reinforcement learning, and the trajectory planning method based on reinforcement learning improves the safety of trajectory planning by constructing a driving risk field and incorporating a risk index into an optimization function. The initial trajectory is solved through the intelligent agent, so that the calculation efficiency of trajectory planning in a time-space domain is improved; and trajectory optimization is performed based on the trajectory initial solution through the trajectory optimization model, so that the optimality and feasibility of the generated trajectory are ensured.
本申请公开了本申请提供了一种基于强化学习的结构化道路车辆轨迹规划方法,基于强化学习的轨迹规划方法,通过构建行车风险场,将风险指标纳入优化函数中,提高了轨迹规划的安全性;通过智能体进行初始轨迹的求解,提高了轨迹规划在时空域下的计算效率;通过轨迹优化模型,基于轨迹初始解,进行轨迹优化,保证了生成轨迹的最优性和可行性。
Structured road vehicle trajectory planning method and system based on reinforcement learning
一种基于强化学习的结构化道路车辆轨迹规划方法与系统
2023-05-26
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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06V |