A system for generating a model-free reinforcement learning policy may include a processor, a memory, and a simulator. The simulator may be implemented via the processor and the memory. The simulator may generate a simulated traffic scenario including two or more lanes, an ego-vehicle, a dead end position, and one or more traffic participants. The dead end position may be a position by which a lane change for the ego-vehicle may be desired. The simulated traffic scenario may be associated with an occupancy map, a relative velocity map, a relative displacement map, and a relative heading map at each time step within the simulated traffic scenario. The simulator may model the ego-vehicle and one or more of the traffic participants using a kinematic bicycle model. The simulator may build a policy based on the simulated traffic scenario using an actor-critic network. The policy may be implemented on an autonomous vehicle.
Model-free reinforcement learning
2022-10-11
Patent
Electronic Resource
English
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |