The invention discloses a vehicle driving decision-making method and device, equipment and a medium, and relates to the technical field of automatic driving, and the method comprises the steps: obtaining a first driving state of a vehicle at a current moment; based on the first driving state, predicting a second driving state at the next moment obtained after the vehicle executes different actions in the preset action set; the preset action set comprises a longitudinal/transverse action set; respectively constructing a corresponding target reward function based on the first driving state and each second driving state, and inputting the first driving state, the second driving states, a preset action set, the target reward function and the driving paths of the surrounding vehicles into a preset POMDP model, so as to solve and output a target action corresponding to the optimal reward function by using the POMDP model; and controlling the vehicle to run by using the target action. The POMDP is applied to automatic driving, so that the uncertainty in the driving process is modeled, and more accurate actions are output to control vehicle driving.
本申请公开了一种车辆行驶决策方法、装置、设备及介质,涉及自动驾驶技术领域,包括:获取自车在当前时刻的第一行驶状态;基于第一行驶状态预测自车在执行预设动作集合中的不同动作后分别得到的在下一时刻的第二行驶状态;预设动作集合包括纵/横向动作集合;基于第一行驶状态和每一第二行驶状态分别构建对应的目标奖励函数,将第一行驶状态、第二行驶状态、预设动作集合、目标奖励函数和周围车辆的行驶路径输入至预设的POMDP模型,以利用POMDP模型求解并输出与最优奖励函数对应的目标动作;利用目标动作控制自车行驶。通过将POMDP运用到自动驾驶中,以实现对驾驶过程中的不确定性进行建模,从而输出更准确的动作来控制车辆行驶。
Vehicle driving decision-making method, device, equipment and medium
一种车辆行驶决策方法、装置、设备及介质
2025-01-17
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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