An apparatus (900) is described for determining an improved motion planner hyper-parameter (402). The apparatus (900) is configured to: receive a data pair (306), where the data pair (306) comprises a hyper-parameter set (402) and a utility score defining a utility of a motion planner (202) result (404) produced by the hyper-parameter set (402); providing a model, wherein the model defines a relationship between the hyper-parameter (402) and the utility score; generating a test hyper-parameter (402) using a guide target (304), wherein the guide target (304) is used to evaluate a quality of a hyper-parameter test set (402) from the model; determining a test result (404) of the motion planner based on the test hyper-parameter (402); a new utility score for the trial hyper-parameter (402) is determined (406) based on a comparison of the trial result (404) to truth data (408). Thus, the apparatus optimizes the currently deployed hyper-parameter (402) by comparing to the truth data to provide a hyper-parameter (402) that can produce an actual motion planned trajectory and is superior to the currently deployed hyper-parameter (402).
描述了一种装置(900),所述装置(900)用于确定改进的运动规划器超参数(402)。所述装置(900)用于:接收数据对(306),其中所述数据对(306)包括超参数集(402)和效用分数,所述效用分数定义了所述超参数集(402)产生的运动规划器(202)结果(404)的效用;提供模型,其中所述模型定义了所述超参数(402)和所述效用分数之间的关系;使用引导目标(304)生成试验超参数(402),其中所述引导目标(304)用于根据所述模型评估超参数试验集(402)的质量;基于所述试验超参数(402)确定所述运动规划器的试验结果(404);基于所述试验结果(404)与真值数据(408)的比较确定(406)所述试验超参数(402)的新效用分数。因此,所述装置通过与真值数据的比较来优化当前部署的超参数(402),以提供能够产生实际运动规划轨迹并且优于当前部署的超参数(402)的超参数(402)。
System and method for optimizing autonomous vehicle motion planner
用于优化自动驾驶车辆运动规划器的系统和方法
2024-11-08
Patent
Electronic Resource
Chinese
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 |
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