To provide a vehicle action evaluation device capable of appropriately evaluating an action of an own vehicle suitable for various traffic situations which the own vehicle faces.SOLUTION: An interactive prediction section 40 as a vehicle action evaluation device calculates a reward with a running state of another vehicle considered against a future action taken by an own vehicle, using an approximate function device 50. An action of the own vehicle is evaluated on the basis of the calculated reward. The approximate function device 50 executes simulation under a plurality of environments in which combinations of the surrounding environment of the own vehicle, a state of the own vehicle and a state of another vehicle are different, and learning thereof is executed on the basis of running state-reward data developed to give a high reward under a state of the own vehicle in which a contact between the own vehicle with another vehicle can be avoided, and to give a low reward under a state of the own vehicle in which a contact between the own vehicle with another vehicle exists.SELECTED DRAWING: Figure 1
【課題】自車両が直面する種々の交通状況に適した自車両の行動を適正に評価することが可能な車両行動評価装置を提供する。【解決手段】車両行動評価装置としてのインタラクティブ予測部40は、近似関数器50を用いて、自車両が取り得る将来の行動に対して、他車両の走行状態を考慮した報酬を算出する。自車両の行動は、その算出された報酬に基づいて評価される。近似関数器50は、自車両の周辺環境と自車両の状況と他車両の状況との組み合わせが異なる複数の環境下においてシミュレーションを行い、自車両が他車両と接触を回避できた自車両の状況には高い報酬を与え、自車両が他車両と接触に到った自車両の状況にはそれよりも低い報酬を与えるようにして作成された走行状況−報酬データに基づき学習されたものである。【選択図】図1
VEHICLE ACTION EVALUATION DEVICE, VEHICLE ACTION EVALUATION METHOD, AND VEHICLE ACTION EVALUATION PROGRAM
車両行動評価装置、車両行動評価方法、および車両行動評価プログラム
2021-09-02
Patent
Electronic Resource
Japanese
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