The invention relates to a vehicle lane changing decision-making method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining at least two types of environment data collected for the surrounding environment of a target vehicle, and obtaining the vehicle state data of the target vehicle; for each type of environment data, inputting the environment data into at least two corresponding weak learners to obtain an environment recognition result set corresponding to the type of environment data; inputting the vehicle state data into at least two corresponding weak learners to obtain a state recognition result set corresponding to the target vehicle; obtaining input data from each environment recognition result set and each state recognition result set, and inputting the input data into a reinforcement learning model to obtain a corresponding longitudinal acceleration and a corresponding steering angle change rate; and according to the longitudinal acceleration and the steering angle change rate, a lane changing decision instruction corresponding to the target vehicle is generated. Therefore, a better lane changing decision is made.
本发明涉及一种车辆换道决策方法、装置、电子设备及存储介质,获取针对目标车辆周边环境采集的至少两种类型的环境数据,以及,获取所述目标车辆的车辆状态数据;针对每种类型的环境数据,将所述环境数据输入到至少两个对应的弱学习器中,得到所述类型的环境数据对应的环境识别结果集合;将所述车辆状态数据输入到至少两个对应的弱学习器中,得到所述目标车辆对应的状态识别结果集合;从每个所述环境识别结果集合和所述状态识别结果集合中获取输入数据,并将所述输入数据输入至强化学习模型中,得到对应的纵向加速度和转向角变化率;根据所述纵向加速度和所述转向角变化率,生成所述目标车辆对应的换道决策指令。由此做出更好的换道决策。
Vehicle lane changing decision-making method and device, electronic equipment and storage medium
车辆换道决策方法、装置、电子设备及存储介质
2025-04-11
Patent
Electronic Resource
Chinese
IPC: | G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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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