본 발명은 자율 주행을 위한 속도 계획 방법, 장치, 설비, 매체를 개시하고, 자율 주행 및 딥 러닝 등 인공 지능 기술에 관한 것이다. 구체적인 구현 방안은, 차량의 현재 상태를 획득하며, 상기 현재 상태는 적어도 나머지 주행 거리와 현재 속도를 포함하고, 상기 현재 상태 및 사전 결정된 상태표에 따라, 동작을 보간하여, 상기 현재 상태의 목표 동작을 획득하며, 상기 상태표는 학습 강화 방법에 기반하여 결정되고, 복수의 상태와 각 상태에서 실행되는 동작을 포함하며, 상기 동작은 적어도 가속도를 포함하는 것이다. 본 발명은 룩업 테이블의 방식을 사용하여 신경망을 대체하며, 우선 오프라인으로 상태표를 결정하고, 그 다음 온라인 조회 방식을 통해 현재 상태의 목표 동작을 결정할 수 있으므로, 대량의 컴퓨팅 자원을 점용하지 않는 전제하에, 속도 계획의 글로벌 최적해를 획득하도록 확보할 수 있다.

    Provided are a speed planning method and apparatus for self-driving, a device and a medium, relating to artificial intelligence technologies such as self-driving and deep learning. The solution includes acquiring the current state of a vehicle (S101) and interpolating actions based on the current state and a predetermined state table to obtain the target action of the current state (S102). The current state includes at least the remaining running distance and the current speed. The state table is determined based on a reinforcement learning method and includes multiple states and an action performed in each state. The action performed in each state includes at least acceleration. With the solution, table lookup replaces a neural network. It is possible to determine the target action of the current state simply by determining the state table offline and then performing table lookup online. Therefore, not only not a large number of computing resources are occupied, but the global optimal solution of speed planning can also be obtained.


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    Title :

    SPEED PLANNING METHOD DEVICE EQUIPMENT MEDIUM AND VEHICLE FOR AUTONOMOUS DRIVING


    Additional title:

    자율 주행을 위한 속도 계획 방법, 장치, 설비, 매체 및 차량


    Publication date :

    2023-08-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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