Decision planning method for automatic driving, electronic equipment and computer storage medium

A technology for autonomous driving and planning, applied in computing, neural learning methods, biological neural network models, etc.

Inactive Publication Date: 2022-01-04
ALIBABA DAMO (HANGZHOU) TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In these scenarios, traditional dec

Method used

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  • Decision planning method for automatic driving, electronic equipment and computer storage medium
  • Decision planning method for automatic driving, electronic equipment and computer storage medium
  • Decision planning method for automatic driving, electronic equipment and computer storage medium

Examples

Experimental program
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Embodiment 1

[0028] refer to Figure 3A , shows a flow chart of steps of a decision planning method for automatic driving according to Embodiment 1 of the present application.

[0029] The decision planning method for automatic driving in this embodiment includes the following steps:

[0030] Step S302: Obtain the driving perception information of the object to be decided in the continuous behavior space.

[0031] The object to be decided can be a device that carries an intelligent device (such as a processor or a chip, etc.), and can perform corresponding operations according to the instructions of the intelligent device, such as executing the instruction operation corresponding to the decision-making plan; it can also be a device that can upload corresponding information to A remote intelligent device (such as a server), and a device that can accept instructions from the intelligent device and perform corresponding operations. In the embodiment of the present application, the forms tha...

Embodiment 2

[0052] refer to Figure 4A , shows a flow chart of steps of a decision planning method for automatic driving according to Embodiment 2 of the present application.

[0053] In this embodiment, the training of the combination of the reinforcement learning network model and MCTS is emphasized. The training completed reinforcement learning network model can be applied to the decision-making planning scheme of automatic driving in the foregoing embodiment, so as to make effective decisions on the decision-making objects. planning.

[0054] The decision planning method for automatic driving in this embodiment includes the following steps:

[0055] Step S402: Train the policy value model in the reinforcement learning network model.

[0056] like figure 2 As shown in , the reinforcement learning network model in the embodiment of the present application includes a GNN model part and a strategy value model part, wherein the GNN part can be a pre-trained model. Therefore, in this embo...

Embodiment 3

[0104] refer to Figure 5 , shows a structural block diagram of an automatic driving decision planning device according to Embodiment 3 of the present application.

[0105] The decision planning device for automatic driving in this embodiment includes: a first acquisition module 502, configured to acquire driving perception information of an object to be decided in a continuous behavior space, wherein the driving perception information includes: information related to the object to be decided Geometric information, historical driving track information and map information; the second acquisition module 504 is used to obtain multiple planning strategies conforming to the mixed Gaussian distribution and strategy evaluation corresponding to each planning strategy according to the driving perception information and driving target information; planning Module 506, configured to perform decision planning for the object to be decided according to the multiple planning strategies and t...

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PUM

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Abstract

The embodiment of the invention provides an automatic driving decision planning method, electronic equipment and a computer storage medium, and the method comprises the steps: obtaining the driving perception information of a to-be-decided object in a continuous behavior space, wherein the driving perception information comprises geometric information, historical driving track information and map information related to the to-be-decided object; according to the driving perception information and the driving target information, obtaining a plurality of planning strategies conforming to Gaussian mixture distribution and strategy evaluation corresponding to each planning strategy; and performing decision planning on the to-be-decided object according to the plurality of planning strategies and the strategy evaluation corresponding to each planning strategy. According to the embodiment of the invention, decision planning can be effectively carried out in a strong interaction scene in automatic driving, and the decision effect is improved.

Description

technical field [0001] The embodiments of the present application relate to the technical field of automatic driving, and in particular, to a decision planning method for automatic driving, electronic equipment, and a computer storage medium. Background technique [0002] Autonomous driving technology is a technology that uses communication, computer, network and control technologies to conduct real-time and continuous control of corresponding equipment (such as self-driving vehicles, drones, robots, etc.). [0003] With the development of autonomous driving technology, driving decision-making planning is increasingly used in autonomous driving technology. Taking self-driving vehicles as an example, the current decision-making plan for autonomous driving can give specific driving suggestions based on changes in road conditions, such as encountering pedestrians, vehicles, or congestion, and control self-driving vehicles to perform reasonable driving operations. However, in s...

Claims

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Application Information

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IPC IPC(8): B60W60/00G06Q10/04G06N3/08
CPCB60W60/001G06Q10/04G06N3/08B60W2556/10B60W2556/40
Inventor 陈俊波雷岚馨敬巍王刚
Owner ALIBABA DAMO (HANGZHOU) TECH CO LTD
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