The invention discloses a vehicle decision control model training method, device and equipment and a vehicle decision control method, device and equipment, and relates to the technical field of automatic driving. Comprising the following steps: performing feature coding on a sample vehicle state space of a sample vehicle by adopting a feature extraction network to obtain a sample state coding feature; performing behavior decision on the sample state coding features by adopting an upper-layer behavior decision sub-model to obtain an upper-layer behavior decision prediction result; performing behavior control on the sample state coding features by adopting a lower-layer behavior control sub-model to obtain sample vehicle state information of the sample vehicle; according to the sample vehicle state information, the sample obstacle position, the road information, the sample vehicle speed limit and the maximum vehicle acceleration, lower layer behavior control single-step loss is determined; according to the upper-layer behavior decision prediction result, the lower-layer behavior control single-step loss and the upper-layer behavior decision single-step period, determining upper-layer behavior decision loss; and training the vehicle decision control model according to the upper layer behavior decision loss.
本发明公开了一种车辆决策控制模型的训练和车辆决策控制方法、装置及设备,涉及自动驾驶技术领域。包括:采用特征提取网络,对样本车辆的样本车辆状态空间进行特征编码,得到样本状态编码特征;采用上层行为决策子模型,对样本状态编码特征进行行为决策,得到上层行为决策预测结果;采用下层行为控制子模型,对样本状态编码特征进行行为控制,得到样本车辆的样本车辆状态信息;根据样本车辆状态信息、样本障碍物位置、道路信息、样本车辆限速和最大车辆加速度,确定下层行为控制单步损失;根据上层行为决策预测结果、下层行为控制单步损失和上层行为决策单步周期,确定上层行为决策损失;根据上层行为决策损失,对车辆决策控制模型进行训练。
Vehicle decision control model training method, device and equipment and vehicle decision control method, device and equipment
车辆决策控制模型的训练和车辆决策控制方法、装置及设备
2024-03-26
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 |
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