The invention discloses a vehicle lane changing decision model training method and a vehicle lane changing decision method, and the method comprises the steps: obtaining the driving state information of a vehicle in a simulation environment, and constructing a state matrix of a Markov decision model according to the driving state information; inputting the state matrix into a reinforcement learning model for processing, and predicting to obtain behavior decision information corresponding to the state matrix; determining a reward score of the current lane changing task according to the behavior result information and a preset reward function; the reward score, the behavior decision information, the state matrix at the current moment and the state matrix at the next moment are substituted into a loss function, and the loss value of the task is determined; and updating parameters of the reinforcement learning model by adopting an external meta-learning algorithm to carry out iterative training to obtain a vehicle lane changing decision model. According to the scheme, the effect of reinforcement learning of a large amount of training data can be obtained under small sample training, and good generalization ability can be achieved under lane changing scenes of different traffic flow densities and different road sections.

    本发明公开了一种车辆变道决策模型训练方法和车辆变道决策方法,所述方法包括:获取仿真环境中自车的行驶状态信息,根据行驶状态信息构建马尔科夫决策模型的状态矩阵;将状态矩阵输入强化学习模型进行处理,预测得到状态矩阵对应的行为决策信息;根据行为结果信息和预设的奖励函数确定本次变道任务的奖励得分;将奖励得分、行为决策信息、当前时刻的状态矩阵、下一时刻的状态矩阵,带入损失函数,确定本次任务的损失值;采用外部元学习算法更新强化学习模型的参数进行迭代训练,得到车辆变道决策模型。本方案能够能够在小样本的训练下获得强化学习大量训练数据下的效果,并且能够在不同车流密度、不同路段的变道场景下有很好的泛化能力。


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    Title :

    Vehicle lane changing decision model training method and vehicle lane changing decision method


    Additional title:

    一种车辆变道决策模型训练方法和一种车辆变道决策方法


    Contributors:

    Publication date :

    2024-08-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / 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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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