Lane changing strategy determining method and device and storage medium

A strategy determination and lane change technology, applied in the computer field, can solve problems such as inaccurate lane change strategies, and achieve the effect of improving accuracy

Inactive Publication Date: 2020-09-11
知行汽车科技(苏州)股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present application provides a method, device and storage medium for determining a lane change strategy, which can solve the problem that the determined lane change strategy may not be accurate enough when the lane change strategy is determined only based on the current road environment

Method used

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  • Lane changing strategy determining method and device and storage medium
  • Lane changing strategy determining method and device and storage medium
  • Lane changing strategy determining method and device and storage medium

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Embodiment Construction

[0040] The specific implementation manners of the present application will be further described in detail below in conjunction with the drawings and embodiments. The following examples are used to illustrate the present application, but not to limit the scope of the present application.

[0041] First, some terms involved in this application are introduced.

[0042] Monte Carlo Tree Search (MCTS) is a general term for a class of tree search algorithms, which can solve some problems with huge exploration space. For example, the Go algorithm is implemented based on MCTS. Monte Carlo tree search is a search algorithm based on tree data structure, which can balance exploration and utilization, and is still relatively effective when the search space is huge.

[0043] The principle of the MCTS algorithm usually includes four steps:

[0044] The first step is selection (Selection): Find the best node worth exploring in the tree. The general strategy is to select the child nodes tha...

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Abstract

The invention relates to a lane changing strategy determining method and device and a storage medium, and belongs to the technical field of computers. The method comprises steps of generating a plurality of simulation paths by taking the environmental information at the current moment as a root node based on an MCTS algorithm, each simulation path comprising m layers of child nodes and transmission paths between nodes of different layers, and each transmission path being used for indicating a lane changing strategy between two adjacent layers of nodes; obtaining an accumulated quality score and access times of each child node in the plurality of simulation paths; calculating the UCB value of each child node based on the accumulated quality score and the access frequency; determining the lane changing strategy between the target child node with the maximum UCB value and the father node of the target child node as the lane changing strategy of the environment information; the problem that when the lane changing strategy is determined only according to the road environment at the current moment, the determined lane changing strategy is not accurate enough can be solved. The accuracy of determining the lane changing strategy can be improved.

Description

technical field [0001] The present application relates to a method, device and storage medium for determining a lane change strategy, and belongs to the field of computer technology. Background technique [0002] Lane-changing strategy refers to the strategy that the self-driving vehicle selects the most suitable lane to drive by combining the vehicle's current position, road conditions, and navigation planning by sensing the surrounding traffic conditions. It is one of the behavioral strategies of the self-driving vehicle. [0003] In the prior art, the way of determining the lane change strategy includes: obtaining the road environment at the current moment; determining the lane change strategy corresponding to the road environment at the current moment according to the correspondence between the road environment and the lane change strategy, for example: the road at the current moment The environment is that there are many vehicles driving on the left, and the lane change...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/18B60W60/00B60W40/00B60W50/00
CPCB60W30/18163B60W40/00B60W50/00B60W2050/0028B60W60/001B60W2554/40
Inventor 乔晓利
Owner 知行汽车科技(苏州)股份有限公司
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