Ramp afflux strategy learning method and device, electronic equipment and storage medium
A strategy learning and strategy technology, applied in neural learning methods, design optimization/simulation, biological neural network models, etc., can solve the problem of low security and achieve the effect of improving security
Pending Publication Date: 2022-07-29
JINGDONG KUNPENG (JIANGSU) TECH CO LTD
View PDF0 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0006] The purpose of the present disclosure is to provide a ramp-merging strategy learning method, device, electronic device, and computer-readable storage medium, which can improve the automatic driving merge-in strategy in the related art at least to a certain extent when it is applied to merge into a highway from a ramp There is a problem of low security in the scene
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0044] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments, however, can be embodied in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
[0045] Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repeated descriptions will be omitted. Some of the block diagrams shown in the figures are functional entities that do not necessarily necessarily correspond to physically or logically separate entities. These functi...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention provides a ramp afflux strategy learning method and device, electronic equipment and a storage medium, and relates to the technical field of automatic driving. The strategy learning method comprises the following steps: configuring an accumulated expected return in a training environment, the accumulated expected return being used for representing an accumulated value of an expected return for continuously executing an afflux strategy to complete a ramp afflux process; a strategy evaluation model and a strategy improvement model are constructed based on the accumulated expected return, the strategy evaluation model is used for evaluating a first expected return obtained by following an afflux strategy from a specified driving state, and the strategy improvement model is used for evaluating a second expected return obtained by adopting a specified driving action; alternative iterative learning is carried out on the strategy evaluation model and the strategy improvement model, and distributed driving actions are obtained; and performing collision avoidance correction operation on the distributed driving action based on the safety shield model, and generating a corrected target afflux strategy. Through the technical scheme disclosed by the invention, the safety of the output strategy can be improved when the method is applied to a scene of converging from a ramp to an expressway.
Description
technical field [0001] The present disclosure relates to the technical field of automatic driving, and in particular, to a method, apparatus, electronic device and computer-readable storage medium for learning a ramp entry policy. Background technique [0002] Automotive intelligent technology that can effectively improve driving performance has become the main development trend of the automotive industry in recent years, and autonomous decision-making is one of the core technologies in intelligent technology. [0003] Since the ramp is an important part of the road, in order to realize the automatic driving of the structured road, it is necessary to realize the autonomous lane change between the ramp and the main road, and due to the dynamic, random and game nature of the ramp merge scene, the ramp merge Vehicle entry has become one of the high-incidence sections of vehicle accidents, and intelligent vehicle autonomous entry decision-making is the key technology to achieve ...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/27G06N3/04G06N3/08G08G1/01G08G1/16
CPCG06F30/27G06N3/08G08G1/0125G08G1/0137G08G1/166G08G1/167G06N3/045
Inventor 徐鑫
Owner JINGDONG KUNPENG (JIANGSU) TECH CO LTD