The present invention provides a speed planning method, apparatus, facility and medium for autonomous driving, and relates to artificial intelligence technologies such as autonomous driving, deep learning, etc. A concrete implementation method comprises the steps of: acquiring the current state of a vehicle wherein the current state includes at least the remaining running distance and the current speed; and interpolating actions based on the current state and a predetermined state table to obtain the target action of the current state, wherein the state table is determined based on a reinforcement learning method and includes multiple states and actions performed in respective states, and the action includes at least acceleration. The present invention can replace a neural network by using a lookup table method, first determine the state table offline and then determine a target action of the current state in an online reference manner. Therefore, under the premise that a large quantity of computing resources are not occupied, and the global optimal solution of speed planning can be securely obtained.

    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.


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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


    Contributors:

    Publication date :

    2021-08-18


    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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