基于深度強化學習的單目視覺自動駕駛決策系統
企業: 日期:2020-05-27
領域: 點擊數:282

作者:楊明珠(大連交通大學, 遼寧 大連 116021)

摘要:人工智能和自動駕駛的發展如火如荼,人工智能技術在自動駕駛技術中的應用也越來越多、越來越深入,因此本文提出一種基于深度強化學習的單目視覺自動駕駛決策系統,可以讓自動駕駛車輛通過相機作為傳感器輸入,實現端到端的自動駕駛決策,并且通過設置獎勵函數和訓練使得車輛的學習效率越來越高,可以在車道內保持直線行駛。

關鍵詞:深度強化學習;自動駕駛;決策;單目視覺

Abstract: The development of artificial intelligence and autonomous driving is in full swing, and the application of artificial intelligence technology in autonomous driving technology is more and more indepth,so this paper proposes a monocular driving auto-driving decision system based on deep reinforcement learning, which can let the selfdriving vehicle use the camera as a sensor input to achieve end-to-end autonomous driving decisions, and set the reward function and training to make the vehicle's learning efficiency more and more efficient, and it can keep driving straight in the lane.

Key words: Deep reinforcement learning; Autonomous driving; Decision making; Monocular vision

在線預覽:基于深度強化學習的單目視覺自動駕駛決策系統

摘自《自動化博覽》2020年5月刊

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