The invention relates to an intelligent driving decision-making method and system based on environmental perception and a medium. The method comprises the steps that G1, a vehicle runs on a road, point cloud data information of the road is obtained in real time based on a vehicle-mounted laser radar, image data information of the road is obtained in real time based on a vehicle-mounted camera, and vehicle state data information is obtained in real time based on a vehicle-mounted IMU; g2, based on the vehicle state data information, the image data information of the road and the point cloud data information of the road, constructing an environment model to predict and update the vehicle driving environment state, and outputting environment state data information of the vehicle; and G3, inputting the environment state data information of the vehicle into a strategy and value network model for training and learning to obtain a trained strategy and value network model. The method not only can truly reflect the real-time environment of a complex road and effectively adapt to environment changes, but also can reflect the current latest traffic condition and make corresponding adjustments.

    本发明涉及一种基于环境感知的智能驾驶决策方法、系统及介质,所述方法包括:G1.车辆行驶在道路上,基于车载激光雷达实时获取道路的点云数据信息,基于车载摄像头实时获取道路的图像数据信息,基于车载IMU实时获取车辆状态数据信息;G2.基于所述车辆状态数据信息、所述道路的图像数据信息和所述道路的点云数据信息,构建环境模型对车辆行驶环境状态进行预测和更新,输出车辆的环境状态数据信息;G3.将所述车辆的环境状态数据信息输入策略与价值网络模型进行训练和学习,得到训练好的策略与价值网络模型。本发明不仅能真实反映复杂道路实时环境,有效适应环境变化,而且可以反映当前最新交通情况,做出相应调整。


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    Title :

    Intelligent driving decision-making method and system based on environmental perception and medium


    Additional title:

    一种基于环境感知的智能驾驶决策方法、系统及介质


    Contributors:
    CAO XIANGSHANG (author) / LI YONG (author) / ZHAO WEI (author)

    Publication date :

    2024-02-20


    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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