Decision-making method and device for interaction with reverse obstacle, electronic equipment and medium

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Decision-making method and device for interaction with reverse obstacle, electronic equipment and medium

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LI KAITLYNN / MU BOWEN / ZHANG ZHICHEN / YANG TIAN

The embodiment of the invention discloses a decision-making method and device for interaction with reverse obstacles, electronic equipment and a medium, and aims at each reverse obstacle corresponding to a vehicle, the optimal obstacle behavior of the reverse obstacle under each decision-making level is determined according to the current vehicle state and the current obstacle state, and the optimal obstacle behavior of the reverse obstacle under each decision-making level is determined. Determining vehicle interaction return between each to-be-evaluated behavior of the vehicle and the optimal obstacle behavior under each decision-making level according to the optimal obstacle behavior under each decision-making level and the current vehicle state, obtaining a return matrix, and finally determining the vehicle interaction return between each to-be-evaluated behavior of the vehicle and the optimal obstacle behavior under each decision-making level according to the return matrix between the vehicle and all reverse obstacles. Determining a vehicle decision behavior from all to-be-evaluated behaviors, and obtaining an obstacle decision behavior of each reverse obstacle according to the vehicle decision behavior and all the return matrixes, thereby achieving the decision when the vehicle interacts with the reverse obstacles, and achieving the real-time interaction of the vehicle and the reverse obstacles in the gradual approaching process of the vehicle and the reverse obstacles. And a final stable decision is realized through continuous interaction.

本公开实施例公开了一种与逆向障碍物交互的决策方法、装置、电子设备和介质，针对与车辆对应的每一个逆向障碍物，根据当前车辆状态以及当前障碍物状态，确定逆向障碍物在每个决策等级下的最优障碍物行为，进而根据每个决策等级下的最优障碍物行为和当前车辆状态，确定车辆的每个待评价行为与各决策等级下的最优障碍物行为之间的车辆交互回报，得到回报矩阵，最终根据车辆与所有逆向障碍物之间的回报矩阵，从所有待评价行为中确定车辆决策行为，并根据车辆决策行为和所有回报矩阵，得到每个逆向障碍物的障碍物决策行为，实现车辆与逆向障碍物交互时的决策，能够在车辆与逆向障碍物逐步接近的过程中，通过连续交互实现最终的稳定决策。

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Title :

Decision-making method and device for interaction with reverse obstacle, electronic equipment and medium

Additional title:

与逆向障碍物交互的决策方法、装置、电子设备和介质

Contributors:

LI KAITLYNN (author) / MU BOWEN (author) / ZHANG ZHICHEN (author) / YANG TIAN (author)

Publication date :

2024-03-01

Type of media :

Patent

Type of material :

Electronic Resource

Language :

Chinese

Classification :

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