US 12,168,455 B2
Method for optimizing decision-making regulation and control, method for controlling traveling of vehicle, and related apparatus
Bin Wang, Beijing (CN); Yuzheng Zhuang, Shenzhen (CN); and Wulong Liu, Montreal (CA)
Assigned to HUAWEI TECHNOLOGIES CO., LTD., Guangdong (CN)
Filed by HUAWEI TECHNOLOGIES CO., LTD., Guangdong (CN)
Filed on Oct. 21, 2022, as Appl. No. 18/048,679.
Application 18/048,679 is a continuation of application No. PCT/CN2021/088320, filed on Apr. 20, 2021.
Claims priority of application No. 202010329110 (CN), filed on Apr. 23, 2020.
Prior Publication US 2023/0107033 A1, Apr. 6, 2023
Int. Cl. B60W 60/00 (2020.01); G06N 3/04 (2023.01)
CPC B60W 60/0011 (2020.02) [G06N 3/04 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for optimizing decision-making regulation and control, comprising:
obtaining a first trajectory sequence that comprises trajectory information of a vehicle in a first environment;
obtaining first target driving behavior information output by a behavior decision-making layer of a decision-making and control system based on information about the first environment;
combining the first trajectory sequence and the first target driving behavior information to obtain a first traveling sequence;
obtaining a second trajectory sequence output by a motion planning layer of the decision-making and control system based on preset second target driving behavior information;
combining the second trajectory sequence and the second target driving behavior information to obtain a second traveling sequence;
optimizing the behavior decision-making layer based on a difference between the first traveling sequence and a preset target teaching traveling sequence, wherein the target teaching traveling sequence comprises a teaching trajectory sequence and teaching driving behavior information; and
optimizing the motion planning layer based on a difference between the second traveling sequence and the target teaching traveling sequence.