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\u89e3\u51b3\u4e86\u8fd9\u4e2a\u95ee\u9898\uff0c\u5b83\u663e\u793a\u4e86\u6700\u4f73\u6536\u655b\u548c\u66f4\u77ed\u7684\u8def\u7ebf\u3002\u5f15\u5165\u7684\u53e6\u4e00\u79cd\u65b9\u6cd5\u662f\u683c\u5b50\u89c4\u5212\u5668\uff0c\u8fd9\u4e9b\u89c4\u5212\u5668\u80fd\u591f\u7eb3\u5165\u7ea6\u675f\u5e76\u4ea7\u751f\u53ef\u884c\u7684\u8def\u5f84\u3002\u7ecf\u5178\u89c4\u5212\u5668\u7684\u53e6\u4e00\u79cd\u65b9\u6cd5\u5305\u62ec\u76d1\u7763\u5b66\u4e60\uff0c\u5b83\u53ef\u4ee5\u5206\u4e3a\u6a21\u4eff\u5b66\u4e60\u548c\u8f68\u8ff9\u9884\u6d4b\u3002\u4f7f\u7528\u6df1\u5ea6\u6a21\u4eff\u5b66\u4e60\u6846\u67b6\u901a\u8fc7\u79bb\u7ebf\u5b66\u4e60\u6765\u5b66\u4e60\u57ce\u5e02\u573a\u666f\u7684\u9a7e\u9a76\u7b56\u7565\uff0c\u540c\u65f6\u8fd8\u6dfb\u52a0\u4e86\u4e00\u4e2a\u5b89\u5168\u63a7\u5236\u5668\u6a21\u5757\uff0c\u63d0\u9ad8\u4e86\u6d4b\u8bd5\u65f6\u7684\u5b89\u5168\u6027\u3002<\/p>\n\n\n\n<p>\u5bf9\u4e8e\u8f68\u8ff9\u9884\u6d4b\u800c\u8a00\uff0c\u63d0\u51fa\u4e86\u4e00\u4e2a\u540d\u4e3a UrbanFlow \u7684\u7cfb\u7edf\uff0c\u5b83\u5305\u542b\u4ece\u6536\u96c6\u539f\u59cb\u6570\u636e\u5230\u6700\u7ec8\u5904\u7406\u8f68\u8ff9\u7684\u5b8c\u6574\u7ba1\u9053\u3002\u4f7f\u7528 UrbanFlow \u7ba1\u9053\u7684\u521d\u8877\u662f\u6839\u636e\u4eba\u7c7b\u9a7e\u9a76\u5458\u7684\u9a7e\u9a76\u884c\u4e3a\u8fdb\u884c\u8f68\u8ff9\u9884\u6d4b\uff0c\u8fd9\u4f7f\u5f97\u81ea\u52a8\u6c7d\u8f66\u80fd\u591f\u505a\u51fa\u66f4\u597d\u7684\u51b3\u7b56\u3002\u53e6\u4e00\u79cd\u5728\u8f68\u8ff9\u9884\u6d4b\u65b9\u9762\u4ea7\u751f\u91cd\u5927\u6210\u679c\u7684\u65b9\u6cd5\u662f\u9006\u5f3a\u5316\u5b66\u4e60\uff08IRL\uff09\u3002IRL \u7684\u5de5\u4f5c\u539f\u7406\u662f\u901a\u8fc7\u89c2\u5bdf\u4e13\u5bb6\u4ee3\u7406\u7684\u6700\u4f73\u8f68\u8ff9\u6765\u63d0\u53d6\u5956\u52b1\u7ed3\u6784\u3002\u901a\u8fc7\u5efa\u7acb\u5728IRL\u65b9\u6cd5\u7684\u57fa\u7840\u4e0a\uff0c\u63d0\u51fa\u4e86\u4e00\u4e2a\u901a\u8fc7\u6574\u5408\u8fd0\u52a8\u5b66\u548c\u73af\u5883\u6765\u9884\u6d4b\u8d8a\u91ce\u8f66\u8f86\u8f68\u8ff9\u7684\u6846\u67b6\uff0c\u4ee5\u6062\u590d\u5956\u52b1\u7ed3\u6784\u3002<\/p>\n\n\n\n<p><strong>C. \u53d8\u9053\u5de5\u4f5c<\/strong><\/p>\n\n\n\n<p>\u5148\u524d\u5173\u4e8e\u53d8\u9053\u7684\u5de5\u4f5c\u5305\u62ec\u4f7f\u7528\u7ecf\u5178\u63a7\u5236\u65b9\u6cd5\u548c\u5b66\u4e60\u7b97\u6cd5\u3002\u5728\u6ca1\u6709\u9053\u8def\u57fa\u7840\u8bbe\u65bd\u652f\u6301\u7684\u60c5\u51b5\u4e0b\u63d0\u51fa\u4e86\u53d8\u9053\u95ee\u9898\u7684\u89e3\u51b3\u65b9\u6848\u3002\u4e3b\u8981\u901a\u8fc7\u81ea\u884c\u8f66\u6a21\u578b\u4f7f\u7528\u865a\u62df\u9053\u8def\u66f2\u7387\u5c06\u81ea\u8f66\u9053\u8fde\u63a5\u5230\u76ee\u6807\u8f66\u9053\uff0c\u4ece\u800c\u5f15\u5bfc\u81ea\u8f66\u6267\u884c\u8f66\u9053\u53d8\u6362\u3002\u540c\u65f6\uff0c\u8fd8\u5c06\u8f6c\u5411\u89d2\u8f93\u5165\u81ea\u884c\u8f66\u6a21\u578b\uff0c\u4ee5\u4f30\u8ba1\u76ee\u6807\u8f66\u9053\u7684\u6a2a\u5411\u4f4d\u7f6e\u3002\u53e6\u5916\uff0c\u6709\u7b97\u6cd5\u9488\u5bf9\u53d8\u9053\u60c5\u51b5\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u5f3a\u5316\u5b66\u4e60\u7684\u65b9\u6cd5\u3002\u4ed6\u4eec\u5c06\u901a\u8fc7 DQN \u8fdb\u884c\u4f55\u65f6\u6267\u884c\u53d8\u9053\u51b3\u7b56\u4e0e\u7528\u4e8e\u8f68\u8ff9\u751f\u6210\u548c\u8ddf\u8e2a\u7684 Pure Pursuit Tracking \u7b97\u6cd5\u76f8\u7ed3\u5408\u3002\u8fd9\u79cd\u63d0\u51fa\u7684\u7ed3\u6784\u5c06\u673a\u5668\u5b66\u4e60\u6280\u672f\u4e0e\u7ecf\u5178\u63a7\u5236\u65b9\u6cd5\u7ed3\u5408\u8d77\u6765\u3002\u53e6\u4e00\u9879\u662f\u4f7f\u7528\u5b66\u4e60\u6765\u5f15\u5165\u4e00\u79cd\u57fa\u4e8e\u6df1\u5ea6\u5f3a\u5316\u5b66\u4e60\u7684\u65b9\u6cd5\uff0c\u4ece\u800c\u5904\u7406\u81ea\u8f66\u7684\u901f\u5ea6\u548c\u8f66\u9053\u53d8\u6362\u51b3\u7b56\u3002\u8fd9\u5176\u4e2d\u4f7f\u7528\u4e86 DQN \u6765\u8bad\u7ec3\u901f\u5ea6\u548c\u8f66\u9053\u53d8\u6362\u51b3\u7b56\u7684\u7b56\u7565\u3002<\/p>\n\n\n\n<p><strong>\u7b97\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<p><strong>1\u3001\u53cc\u91cd\u6df1\u5ea6 Q \u5b66\u4e60<\/strong><\/p>\n\n\n\n<p>Double Q-Learning \u662f\u6700\u5148\u8fdb\u7684\u6df1\u5ea6 Q-Learning \u7b97\u6cd5\u7684\u6269\u5c55\u3002RL \u4e2d\u7684 Q-Learning \u7b97\u6cd5\u7528\u4e8e\u4f7f\u7528 Q \u51fd\u6570\u03c0\u627e\u5230\u6700\u4f73\u52a8\u4f5c\u9009\u62e9\u7b56\u7565\uff0c\u8be5\u51fd\u6570\u7528\u4e8e\u6700\u5927\u5316\u52a8\u4f5c\u503c\u51fd\u6570 Q\u2217\uff08s; a\uff09\u3002<\/p>\n\n\n\n<p>\u6df1\u5ea6 Q-Learning \u4f7f\u7528\u795e\u7ecf\u7f51\u7edc\uff0c\u901a\u8fc7\u6700\u5c0f\u5316\u9884\u6d4b\u52a8\u4f5c\u503c Q \u548c\u76ee\u6807\u52a8\u4f5c\u503c Y Q \u4e4b\u95f4\u7684\u635f\u5931\u51fd\u6570\u6765\u66f4\u65b0\u7f51\u7edc\u53c2\u6570 \u03b8\u3002\u6df1\u5ea6 Q-Learning \u4f7f\u7528\u76f8\u540c\u7684\u503c\u6765\u9009\u62e9\u548c\u8bc4\u4f30\u64cd\u4f5c\uff0c\u8fd9\u4f1a\u5bfc\u81f4\u8bc4\u4f30\u7ed3\u679c\u504f\u9ad8\u3002<\/p>\n\n\n\n<p>Double Deep Q-Learning \u901a\u8fc7\u4fee\u6539\u6765\u81ea\u53e6\u4e00\u4e2a\u5177\u6709\u4e0d\u540c\u6743\u91cd\u7684\u76ee\u6807 Q0 \u7f51\u7edc\u7684\u76ee\u6807\u52a8\u4f5c\u66f4\u65b0\u6765\u89e3\u51b3\u9ad8\u4f30\u95ee\u9898\uff0c\u5982\u4e0b\u516c\u5f0f 1 \u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"949\" height=\"92\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/image-3.png\" alt=\"\" class=\"wp-image-14010\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/image-3.png 949w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/image-3-300x29.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/image-3-768x74.png 768w\" sizes=\"(max-width: 949px) 100vw, 949px\" \/><\/figure>\n\n\n\n<p><strong>2\u3001\u5206\u5c42\u5f3a\u5316\u5b66\u4e60<\/strong><\/p>\n\n\n\n<p>\u5206\u5c42\u5f3a\u5316\u5b66\u4e60HRL \u5728\u591a\u5c42\u4e2d\u8fdb\u884c\u6a21\u4eff\u5b66\u4e60\uff0c\u4ece\u800c\u751f\u6210\u5bf9\u5e94\u7684\u5b66\u4e60\u7b56\u7565\uff0c\u5982\u4e0b\u516c\u5f0f\u4e2d Q1 \u4e3a\u5143\u63a7\u5236\u5668\uff0c\u4e3b\u8981\u662f\u4e3a\u540e\u7eed\u6b65\u9aa4\u6765\u751f\u6210\u5b50\u76ee\u6807 g\u3002\u63a7\u5236\u5668 Q2 \u5219\u6839\u636e\u6240\u9009\u7684\u5b50\u76ee\u6807\u8f93\u51fa\u64cd\u4f5c a\uff0c\u76f4\u5230\u5143\u63a7\u5236\u5668\u751f\u6210\u4e0b\u4e00\u4e2a\u5b50\u76ee\u6807\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"574\" height=\"174\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/image-5.png\" alt=\"\" class=\"wp-image-14012\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/image-5.png 574w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/image-5-300x91.png 300w\" sizes=\"(max-width: 574px) 100vw, 574px\" \/><\/figure>\n\n\n\n<p>\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u9009\u62e9\u4e86\u590d\u6742\u6027\u589e\u52a0\u7684\u57ce\u5e02\u53d8\u9053\u573a\u666f\u3002\u8be5\u65b9\u6848\u7684\u9ad8\u7ea7\u6982\u8ff0\u5982\u56fe 1 \u6240\u793a\uff0c\u81ea\u8f66\uff08\u7eff\u8272\u6c7d\u8f66\uff09\u4ece\u81ea\u8f66\u9053\u5f00\u59cb\uff0c\u9700\u8981\u8fdb\u884c\u53d8\u9053\uff0c\u56e0\u4e3a\u524d\u9762\u6709\u4e00\u4e2a\u969c\u788d\u7269\uff08\u84dd\u8272\u6c7d\u8f66\uff09\u3002\u4f46\u662f\u76ee\u6807\u8f66\u9053\u5177\u6709\u52a8\u6001\u7684\u4ea4\u901a\u6d41\u3002\u5728\u8fd9\u4e2a\u4f8b\u5b50\u4e2d\uff0c\u4f7f\u7528\u4e24\u8f86\u9ec4\u8272\u7684\u6c7d\u8f66\u6765\u4ee3\u8868\u5468\u56f4\u7684\u4ea4\u901a\u3002<\/p>\n\n\n\n<p>\u8fd9\u4e2a\u573a\u666f\u53ef\u4ee5\u5f88\u5bb9\u6613\u5730\u5206\u89e3\u4e3a\u5177\u6709\u591a\u4e2a\u5b50\u76ee\u6807\u7684\u4efb\u52a1\uff0c\u8fd9\u4e5f\u89e3\u91ca\u4e86\u9009\u62e9\u8fd9\u4e2a\u573a\u666f\u7684\u539f\u56e0\u3002\u5728\u8fd9\u4e2a\u95ee\u9898\u4e2d\uff0c\u4e3a\u6c7d\u8f66\u63d0\u4f9b\u4e86\u4e24\u4e2a\u9ad8\u7ea7\u64cd\u4f5c\u9009\u9879\u3002\u7b2c\u4e00\u79cd\u9009\u62e9\u662f\u8f66\u9053\u8ddf\u968f\/\u7b49\u5f85\uff0c\u7b2c\u4e8c\u79cd\u9009\u62e9\u662f\u53d8\u9053\u673a\u52a8\u3002\u6240\u63d0\u51fa\u7684HRL\u8f68\u8ff9\u89c4\u5212\u5668\u7684\u9ad8\u7ea7\u7ed3\u6784\u5982\u56fe1\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"628\" height=\"511\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/image-7.png\" alt=\"\" class=\"wp-image-14014\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/image-7.png 628w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/image-7-300x244.png 300w\" sizes=\"(max-width: 628px) 100vw, 628px\" \/><\/figure>\n\n\n\n<p>\u56fe 1. \u5206\u5c42\u7ed3\u6784\u6709\u4e24\u4e2a\u9ad8\u7ea7\u9009\u9879\u548c\u6bcf\u4e2a\u9ad8\u7ea7\u9009\u9879\u7684\u4f4e\u7ea7\u8f68\u8ff9\u89c4\u5212\u5668<\/p>\n\n\n\n<p>\u5982\u4e0a\u56fe\u8868\u793a\u4e86\u5178\u578b\u7684\u6bd4\u4f8b\u79ef\u5206\u5fae\u5206 (PID) \u63a7\u5236\u5668\u7528\u4e8e\u9075\u5faa\u89c4\u5212\u7684\u8f68\u8ff9\u3002\u8003\u8651\u57ce\u5e02\u573a\u666f\uff0c\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u5fc5\u987b\u9075\u5faa\u8f66\u9053\u6216\u7b49\u5f85\u76ee\u6807\u8f66\u9053\u7545\u901a\u624d\u80fd\u6267\u884c\u8f66\u9053\u53d8\u6362\u64cd\u4f5c\u3002<\/p>\n\n\n\n<p>\u5bf9\u4e8e\u6bcf\u4e2a\u9ad8\u7ea7\u9009\u9879\uff0c\u90fd\u6709\u4e00\u4e2a\u5355\u72ec\u7684\u4f4e\u7ea7\u8f68\u8ff9\u89c4\u5212\u5668\uff0c\u4e14\u6bcf\u4e2a\u9ad8\u7ea7\u9009\u9879\u7684\u4f4e\u7ea7\u89c4\u5212\u5668\u7684\u8be6\u7ec6\u63cf\u8ff0\u53ef\u4ee5\u5728\u65b9\u6cd5\u90e8\u5206\u627e\u5230\u3002<\/p>\n\n\n\n<p>\u6240\u63d0\u51fa\u7684\u57fa\u4e8e HRL \u7684\u8f68\u8ff9\u89c4\u5212\u5668\u4e3b\u8981\u5305\u62ec\u4e24\u4e2a\u7279\u6027\uff1a<\/p>\n\n\n\n<p><strong>1\uff09\u89c4\u5212\u5b89\u5168\u5e73\u6ed1\u7684\u8f68\u8ff9\uff1a<\/strong>\u4f7f\u7528PID\u63a7\u5236\u5668\u6765\u8ddf\u8e2a\u8f68\u8ff9\uff0c\u800c\u4e0d\u662f\u76f4\u63a5\u4f7f\u7528\u4f4e\u7ea7\u52a8\u4f5c\uff1a\u6cb9\u95e8\u3001\u8f6c\u5411\u548c\u5236\u52a8\u3002<\/p>\n\n\n\n<p><strong>2\uff09\u5904\u7406\u566a\u58f0\u89c2\u6d4b\uff1a<\/strong>\u5728\u4e24\u4e2a\u7f51\u7edc\uff08\u9ad8\u7ea7\u9009\u9879\u7f51\u7edc\u548c\u4f4e\u7ea7\u89c4\u5212\u5668\u7f51\u7edc\uff09\u4e2d\u4f7f\u7528\u957f\u77ed\u671f\u8bb0\u5fc6LSTM \u5c42\uff0c\u4ee5\u5e2e\u52a9\u6a21\u578b\u4ece\u4e00\u7cfb\u5217\u89c2\u6d4b\u4e2d\u5b66\u4e60\uff0c\u4ece\u800c\u8865\u507f\u7f3a\u5931\u6216\u9519\u8bef\u7684\u89c2\u6d4b\uff0c\u5e76\u5e2e\u52a9\u81ea\u8f66\u53ef\u4ee5\u5728\u66f4\u52a0\u52a8\u6001\u7684\u73af\u5883\u4e2d\u5b66\u4e60\u3002<\/p>\n\n\n\n<p><strong>3\u3001\u57fa\u4e8e HRL \u7684\u8f68\u8ff9\u89c4\u5212\u5668<\/strong><\/p>\n\n\n\n<p>\u901a\u8fc7HRL\u5206\u4e3a\u4e24\u4e2a\u9ad8\u7ea7\u9009\u9879\uff08\u8f66\u9053\u8ddf\u968f\/\u7b49\u5f85\u548c\u53d8\u9053\uff09\uff0c\u6709\u52a9\u4e8e\u81ea\u6211\u6c7d\u8f66\u5b66\u4e60\u9ad8\u7ea7\u9009\u9879\u548c\u4f4e\u7ea7\u8f68\u8ff9\u89c4\u5212\u8005\u7684\u7b56\u7565\u3002\u5206\u5c42\u7f51\u7edc\u7ed3\u6784\u7684\u7ec6\u8282\u5982\u56fe 2 \u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"721\" height=\"227\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/image-2.png\" alt=\"\" class=\"wp-image-14009\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/image-2.png 721w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/image-2-300x94.png 300w\" sizes=\"(max-width: 721px) 100vw, 721px\" \/><\/figure>\n\n\n\n<p>\u56fe2\u5206\u5c42\u5f3a\u5316\u5b66\u4e60RL\u7f51\u7edc\u5305\u62ec\u9ad8\u5c42\u5148\u62e9\u7f51\u7edc\u548c\u4f4e\u5c42\u89c4\u5212\u7f51\u7edc<\/p>\n\n\n\n<p>\u5728\u56fe2\u4e2d\uff0c\u4e24\u5c42\u7f51\u7edc\u4e2d\uff0c\u957f\u65f6\u8bb0\u5fc6\u5c42a Long Short Term Memory (LSTM) \u4f7f\u7528\u4e86\u4e4b\u524d\u56fa\u5b9a\u76843\u6b65\u5411\u91cf\u4f5c\u4e3a\u8f93\u5165\uff0c\u540c\u65f6\uff0cLSTM\u4e2d\u4f7f\u7528\u4e86Tanh\u6fc0\u6d3b\u51fd\u6570\uff0c\u9009\u62e9\u7f51\u7edc\u7684\u8f93\u51fa\u76ee\u6807\u662f\u57fa\u4e8e\u5386\u53f2\u5411\u91cf\u8f93\u5165\u5230\u89c4\u5212\u7f51\u7edc\u5c42\u6765\u6307\u5b9a\u7684\u3002\u4e00\u4e2a\u5b8c\u6574\u7684\u529f\u80fd\u8fde\u63a5\u5c42FC\u88ab\u6bcf\u4e2a\u7f51\u7edc\u7528\u6765\u505a\u4e3a\u6700\u540e\u4e00\u4e2a\u5c42\u7ea7\u3002\u5728\u529f\u80fd\u8fde\u63a5\u5c42\u4e2d\uff0c\u9664\u4e86\u6700\u540e\u4e00\u5c42\u5916\uff0c\u4e00\u4e2aReLU\u6fc0\u6d3b\u51fd\u6570\u5c06\u88ab\u7528\u4e8e\u751f\u6210\u6bcf\u4e2a\u7f51\u7edc\u5c42\u7684\u8f93\u51fa\u503c\u3002<\/p>\n\n\n\n<p>\u9009\u62e9\u9ad8\u7ea7\u9009\u9879\u540e\uff0c\u4f4e\u7ea7\u8f68\u8ff9\u89c4\u5212\u5668\u5c06\u901a\u8fc7\u7f51\u7edc\u7b56\u7565\u9009\u62e9\u6700\u7ec8\u8f68\u8ff9\u9884\u6d4b\u70b9\u3002\u9009\u62e9\u57fa\u4e8e\u81ea\u8f66\u7684\u72b6\u6001\u4fe1\u606f\uff0c\u901a\u8fc7epsilon-greedy\u7b56\u7565\u3002\u4e00\u65e6\u9009\u62e9\u4e86\u6700\u7ec8\u8f68\u8ff9\u9884\u6d4b\u70b9\uff0c\u5c31\u4f1a\u4f7f\u7528\u5b83\u53ef\u4ee5\u5177\u6709\u7684\u6700\u5927\u52a0\u901f\u6216\u51cf\u901f\u6765\u8ba1\u7b97\u81ea\u8f66\u7684\u76ee\u6807\u901f\u5ea6\uff0c\u4ee5\u786e\u4fdd\u5b50\u8f68\u8ff9\u5e73\u7a33\u3002<\/p>\n\n\n\n<p>\u7136\u540e\uff0c\u5c06\u76ee\u6807\u901f\u5ea6\u548c\u6700\u7ec8\u822a\u70b9\u503c\u63d0\u4f9b\u7ed9 PID \u63a7\u5236\u5668\uff0cPID \u63a7\u5236\u5668\u8fdb\u800c\u4ea7\u751f\u7eb5\u5411\u548c\u6a2a\u5411\u63a7\u5236\u3002\u8fd9\u4e9b\u5b50\u8f68\u8ff9\u5171\u540c\u5f62\u6210\u4e86\u4e00\u4e2a\u5b8c\u6574\u7684\u8f68\u8ff9\uff0c\u5176\u4e2d\u5305\u62ec\u8f66\u9053\u8ddf\u968f\u548c\u53d8\u9053\u64cd\u4f5c\u3002\u7b97\u6cd5 1 \u663e\u793a\u4e86\u57fa\u4e8e HRL \u7684\u8f68\u8ff9\u89c4\u5212\u5668\u7684\u8be6\u7ec6\u5de5\u4f5c\uff0c\u5305\u62ec\u8bad\u7ec3\u7ec6\u8282\u3002<\/p>\n\n\n\n<p>\u5206\u5c42\u8f68\u8ff9\u89c4\u5212\u5668\u7b97\u6cd5\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p>Step1\uff1a\u8bbe\u7f6e\u6743\u91cd\u503c\u03b80\uff0c\u03b8p\u7528\u4e8e\u521d\u59cb\u5316\u9009\u62e9\u4e0e\u6743\u91cd\u7f51\u7edcQ0\uff0cQp\uff1b<\/p>\n\n\n\n<p>Step2\uff1a\u8bbe\u7f6e\u6743\u91cd\u503c\u03b80\u2019\uff0c\u03b8p\u2019\u7528\u4e8e\u521d\u59cb\u5316\u9009\u62e9\u4e0e\u6743\u91cd\u7f51\u7edcQ0\uff0cQp\uff1b<\/p>\n\n\n\n<p>Step3\uff1a\u6784\u5efaBuffer B\uff0c\u7528\u4e8e\u5b58\u50a8\u5982\u4e0b\u6700\u957f\u65f6\u8bb0\u5fc6\u7ecf\u9a8c\u503clb\uff1b<\/p>\n\n\n\n<p>Step4\uff1a\u8fd0\u884c100\u4e2a\u57fa\u4e8e\u89c4\u5219\u7684\u89c6\u9891\u96c6\u5b58\u50a8\u7ecf\u9a8c\u503c\u5230Buffer B\u4e2d\uff1b<\/p>\n\n\n\n<p>Step5\uff1a\u5bf9\u4e8e\u7b2c101\u81f3E\u8bad\u7ec3\u96c6\u6267\u884c\u5982\u4e0b\u64cd\u4f5c\uff1a<\/p>\n\n\n\n<p>Step6\uff1a\u83b7\u5f97\u521d\u59cb\u72b6\u6001s\uff1b<\/p>\n\n\n\n<p>Step7\uff1a\u521d\u59cb\u5316\u5305\u542b3\u4e2a\u65f6\u95f4\u6b65\u9aa4\u7684\u5386\u53f2\u5411\u91cfht\uff1b<\/p>\n\n\n\n<p>Step8\uff1a\u5982\u679cs\u4e0d\u5728\u6700\u7ec8\u72b6\u6001\uff0c\u5219\u8bbe\u7f6eOt=argmax0\uff0cQ(ht)\u662f\u57fa\u4e8e\u03b5-greedy\uff0cOt\u662f\u9009\u9879\uff1b<\/p>\n\n\n\n<p>Step9\uff1a\u8bbe\u7f6ePt=argmaxpQ(ht\uff0cOt)\uff0cQ(ht\uff0cOt)\u662f\u57fa\u4e8e\u03b5-greedy\uff0cPt\u662f\u89c4\u5212\u5668\u7684\u8def\u5f84\u70b9\u9009\u62e9\uff1b<\/p>\n\n\n\n<p>Step10\uff1a\u57fa\u4e8e\u76ee\u6807\u70b9Ot\u548c\u89c4\u5212\u5668\u9009\u62e9\u70b9Pt\u6765\u83b7\u5f97\u8def\u5f84\u9009\u70b9Wt\u3002<\/p>\n\n\n\n<p>Step11\uff1a\u57fa\u4e8eWt\u8ba1\u7b97\u76ee\u6807\u901f\u5ea6\u503cV\uff1b<\/p>\n\n\n\n<p>Step12\uff1a\u7eb5\u5411\u63a7\u5236Throttle = PIDlongitudinal(u, v),\u5176\u4e2du\u662f\u5f53\u524d\u901f\u5ea6\uff0cv\u662f\u6700\u7ec8\u901f\u5ea6\uff1b<\/p>\n\n\n\n<p>Step13\uff1a\u8f6c\u5411\u63a7\u5236Steer = P IDlateral(wc, wt)\uff0cwc\u4e3a\u5f53\u524d\u8def\u5f84\u9009\u70b9\uff0cwt\u4e3a\u76ee\u6807\u8def\u5f84\u9009\u70b9\uff1b<\/p>\n\n\n\n<p>Step14\uff1a\u5728\u4eff\u771f\u73af\u5883\u4e2d\uff0c\u5bf9\u5b50\u8def\u5f84\u8fd0\u884c\u540c\u6837\u7684\u6b65\u9aa4\uff0c\u83b7\u5f97\uff0c\u5176\u4e2dro\u4e3a\u9009\u62e9\u5956\u52b1\uff0crp\u4e3a\u89c4\u5212\u5956\u52b1\uff1b<\/p>\n\n\n\n<p>Step15\uff1a\u6700\u7ec8\u901a\u8fc7\u5c06st+1\u5217\u961f\u5230ht\u4e2d\uff0c\u4ece\u800c\u83b7\u5f97ht+1\uff1b<\/p>\n\n\n\n<p>Step16\uff1a\u5b58\u50a8\u671f\u95f4\u53d8\u5316\u7684\u8981\u7d20T\u5230\u7f13\u5b58Buffer B\u4e2d\uff0c\u5176\u4e2dT\u8868\u793a\u4e3a\uff1b<\/p>\n\n\n\n<p>Step17\uff1a\u91cd\u65b0\u8fd0\u884c\u7f13\u5b58Buffer B\uff0c\u5f97\u5230\u6700\u7ec8\u7684\u8bad\u7ec3\u503c\u3002<\/p>\n\n\n\n<p><strong>1\uff09\u8f66\u9053\u8ddf\u968f\/\u7b49\u5f85\uff1a<\/strong>\u4e00\u65e6\u81ea\u6211\u6c7d\u8f66\u9009\u62e9\u4e86\u8f66\u9053\u8ddf\u968f\/\u7b49\u5f85\u9009\u9879\uff0c\u5c31\u4f1a\u4f7f\u7528\u4f4e\u7ea7\u8f68\u8ff9\u89c4\u5212\u5668\u6765\u89c4\u5212\u8def\u5f84\u3002\u4f4e\u7ea7\u89c4\u5212\u5668\u6709\u4e09\u79cd\u8f68\u8ff9\u9009\u62e9\uff0c\u5982\u56fe 3 \u4e2d\u7684\u5f69\u8272\u7ebf\u6240\u793a\u3002\u7eff\u7ebf\u4ee3\u8868\u81ea\u8f66\u53ef\u4ee5\u6cbf\u7740\u8f66\u9053\u884c\u9a76\u66f4\u957f\u8ddd\u79bb\u7684\u9009\u62e9\u3002\u5f53\u81ea\u8f66\u5728\u5176\u81ea\u8f66\u9053\u4e2d\u5f53\u524d\u4f4d\u7f6e\u7684\u4e00\u5b9a\u534a\u5f84\u5185\u6ca1\u6709\u89c2\u5bdf\u5230\u4efb\u4f55\u969c\u788d\u7269\u65f6\uff0c\u8fd9\u79cd\u9009\u62e9\u4f1a\u5f97\u5230\u76f8\u5e94\u7684\u5956\u52b1\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"659\" height=\"221\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/image-4.png\" alt=\"\" class=\"wp-image-14011\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/image-4.png 659w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/image-4-300x101.png 300w\" sizes=\"(max-width: 659px) 100vw, 659px\" \/><\/figure>\n\n\n\n<p>\u56fe 3.\u8f66\u9053\u8ddf\u968f\/\u7b49\u5f85\u9009\u9879\u6982\u8ff0<\/p>\n\n\n\n<p>\u9ec4\u7ebf\u4ee3\u8868\u4e00\u79cd\u8f68\u8ff9\u9009\u62e9\uff0c\u5728\u8be5\u8f68\u8ff9\u4e0b\uff0c\u81ea\u8f66\u53ef\u4ee5\u6cbf\u7740\u8f66\u9053\u884c\u9a76\u66f4\u77ed\u7684\u8ddd\u79bb\u3002\u5f53\u81ea\u8f66\u5728\u4e00\u5b9a\u8ddd\u79bb\u5185\u89c2\u5bdf\u5230\u81ea\u8f66\u9053\u4e0a\u7684\u969c\u788d\u8f66\u5e76\u5e0c\u671b\u907f\u514d\u9760\u8fd1\u5b83\u65f6\uff0c\u8fd9\u79cd\u9009\u62e9\u662f\u6709\u76ca\u7684\u3002\u53e6\u4e00\u65b9\u9762\uff0c\u5982\u679c\u81ea\u8f66\u9009\u62e9\u7ea2\u7ebf\u8f68\u8ff9\uff0c\u5b83\u5c06\u51cf\u901f\u5230\u7b49\u5f85\u9009\u9879\u6216\u8f83\u6162\u7684\u901f\u5ea6\u3002\u9009\u62e9\u8f68\u8ff9\u540e\uff0c\u5c06\u4f7f\u7528 PID \u63a7\u5236\u5668\u5b8c\u6210\u89c4\u5212\u7684\u8def\u5f84\u3002<\/p>\n\n\n\n<p><strong>2\uff09\u53d8\u9053\uff1a<\/strong>\u4e00\u65e6\u51b3\u5b9a\u8fdb\u884c\u53d8\u9053\uff0c\u5c31\u4f1a\u901a\u8fc7epsilongreedy\u7b56\u7565\u4f7f\u7528\u81ea\u8f66\u7684\u72b6\u6001\u4fe1\u606f\u9009\u62e9\u76ee\u6807\u8f66\u9053\u4e0a\u7684\u822a\u70b9\u3002\u56fe 4 \u4e2d\u6240\u793a\uff0c\u6bcf\u4e2a\u4e0d\u540c\u7684\u6700\u7ec8\u822a\u70b9\u4ee3\u8868\u81ea\u8f66\u53ef\u80fd\u9009\u62e9\u8fdb\u884c\u53d8\u9053\u7684\u4e0d\u540c\u901f\u5ea6\u66f2\u7ebf\u3002\u8fd9\u786e\u4fdd\u4e86\u5728\u89c4\u5212\u53d8\u9053\u64cd\u4f5c\u65f6\u7684\u5e73\u7a33\u6027\u548c\u7a33\u5b9a\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"508\" height=\"167\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/image-1.png\" alt=\"\" class=\"wp-image-14008\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/image-1.png 508w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/image-1-300x99.png 300w\" sizes=\"(max-width: 508px) 100vw, 508px\" \/><\/figure>\n\n\n\n<p>\u56fe4 \u81ea\u52a8\u53d8\u9053\u9009\u62e9\u8f68\u8ff9\u7ebf\u63cf\u8ff0<\/p>\n\n\n\n<p>\u5982\u679c\u7531\u4e8e\u8f66\u9053\u901f\u5ea6\u8f83\u9ad8\uff0c\u56e0\u6b64\u9700\u8981\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u8fdb\u884c\u66f4\u5feb\u7684\u53d8\u9053\uff0c\u5219\u9009\u62e9\u7eff\u70b9\u3002\u9ec4\u70b9\u8868\u793a\u6b63\u5e38\u901f\u5ea6\u5256\u9762\u8f68\u8ff9\u3002\u7ea2\u70b9\u9009\u62e9\u6709\u52a9\u4e8e\u81ea\u8f66\u8fdb\u884c\u66f4\u6025\u8f6c\u5f2f\uff0c\u5f53\u81ea\u8f66\u7684\u901f\u5ea6\u8f83\u5c0f\u6216\u5904\u4e8e\u7b49\u5f85\u9009\u9879\u65f6\uff0c\u53ef\u80fd\u9700\u8981\u8fd9\u6837\u505a\u3002RL\u901a\u8fc7\u53d8\u9053\u9ad8\u7ea7\u9009\u9879\u4e0b\u7684\u4f4e\u7ea7\u89c4\u5212\u7f51\u7edc\u5728\u4e09\u70b9\u4e4b\u95f4\u9009\u62e9\u4e00\u4e2a\u70b9\u3002\u4e00\u65e6\u7b56\u7565\u9009\u62e9\u4e86\u8be5\u70b9\uff0c\u5c31\u4f1a\u5728\u76ee\u6807\u901a\u9053\u4e2d\u7684\u67d0\u4e2a\u8ddd\u79bb\u5904\u751f\u6210\u4e00\u4e2a\u9ed1\u70b9\u3002\u8fd9\u4e2a\u9ed1\u70b9\u662f\u4e00\u4e2a\u5b89\u5168\u8ddf\u968f\u70b9\uff0c\u5b83\u6709\u52a9\u4e8e\u81ea\u8f66\u5728\u518d\u6b21\u6fc0\u6d3b\u8f66\u9053\u8ddf\u968f\/\u7b49\u5f85\u9009\u9879\u4e4b\u524d\u91cd\u65b0\u5b9a\u4f4d\u81ea\u5df1\u3002\u9ed1\u70b9\u7684\u751f\u6210\u57fa\u4e8e\u81ea\u8f66\u5728\u6267\u884c\u53d8\u9053\u540e\u4e0e\u524d\u8f66\u7684\u8ddd\u79bb\u3002<\/p>\n\n\n\n<p><strong>4\u3001\u5904\u7406\u5608\u6742\u72b6\u6001\u4e0b\u7684\u89c2\u6d4b\u503c<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u8ba9\u672c\u7b97\u6cd5\u7684\u6a21\u578b\u8003\u8651\u5608\u6742\u7684\u89c2\u6d4b\u503c\uff0c\u9700\u8981\u5728\u4e24\u4e2a\u7f51\u7edc\u4e2d\u90fd\u6dfb\u52a0\u4e86\u4e00\u4e2a\u957f\u65f6\u7f51\u7edc\u8bb0\u5fc6 \u5c42LSTM \uff1a\u5176\u4e2d\u5305\u62ec\u9ad8\u7ea7\u9009\u9879\u548c\u4f4e\u7ea7\u89c4\u5212\u5668\u7f51\u7edc\u3002\u5206\u5c42\u7f51\u7edc\u7ed3\u6784\u7684\u8be6\u7ec6\u4fe1\u606f\u5982\u56fe 2 \u6240\u793a\uff0c\u5176\u4e2d\uff0c\u4f7f\u7528\u4e86\u4e09\u4e2a\u65f6\u95f4\u6b65\u957f\u4f5c\u4e3a LSTM \u5c42\u7684\u8f93\u5165\u3002\u4e3a\u4e86\u4ece\u91cd\u653e\u89c6\u9891\u8bb0\u5fc6\u4e2d\u63d0\u53d6\u5bf9\u5e94\u7684\u7ecf\u9a8c\uff0c\u5e76\u4f7f\u7528\u4e86\u63d0\u51fa\u7684\u81ea\u4e3e\u968f\u673a\u66f4\u65b0\u65b9\u6cd5\u3002\u8be5\u7b56\u7565\u4ece\u7ecf\u9a8c\u56de\u653e\u4e2d\u63d0\u53d6\u7684\u4e00\u6279\u5267\u96c6\uff0c\u5e76\u4ece\u4e2d\u968f\u673a\u91c7\u6837 n \u6b65\u5e8f\u5217\uff0c\u7136\u540e\u8bad\u7ec3\u795e\u7ecf\u7f51\u7edc\u3002<\/p>\n\n\n\n<p><strong>5\u3001\u72b6\u6001\u7a7a\u95f4<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u4e3a\u6211\u4eec\u7684\u5c42\u6b21\u7ed3\u6784\u5236\u5b9a\u72b6\u6001\u7a7a\u95f4\uff0c\u9700\u8981\u5728\u7ed9\u5b9a\u573a\u666f\u4e2d\u4f7f\u7528\u6765\u81ea\u81ea\u8f66\uff08e\uff09\u3001\u969c\u788d\u8f66 \uff08o\uff09\u3001\u76ee\u6807\u6c7d\u8f66 A\uff08a\uff09\u548c\u76ee\u6807\u6c7d\u8f66B\uff08b\uff09\u7684\u4fe1\u606f\uff0c\u8fd9\u53ef\u4ee5\u4ece\u4e0b\u9762\u7ed9\u51fa\u7684\u5143\u7ec4\u4e2d\u770b\u51fa\u3002\u5bf9\u4e8e\u505c\u6b62\u6216\u969c\u788d\u8f66\u8f86\uff0c\u81ea\u8f66\u7684\u5b89\u5168\u8303\u56f4\u4e3a x &gt;= 16\uff0c\u5bf9\u4e8e\u79fb\u52a8\u8f66\u8f86\uff0cx &gt;= 9\uff0c\u5176\u4e2d x \u662f\u81ea\u8f66\u4e0e\u5176\u4ed6\u8f66\u8f86\u7684\u8ddd\u79bb\uff0c\u4ee5\u7c73\u4e3a\u5355\u4f4d\u3002\u72b6\u6001\u7a7a\u95f4\u7531 14 \u4e2a\u53c2\u6570\u7ec4\u6210\uff0c\u5143\u7ec4\u5305\u542b\u5404\u7c7b\u72b6\u6001\u4fe1\u606f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"643\" height=\"63\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/image-6.png\" alt=\"\" class=\"wp-image-14013\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/image-6.png 643w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/image-6-300x29.png 300w\" sizes=\"(max-width: 643px) 100vw, 643px\" \/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li>ve = \u81ea\u8f66\u901f\u5ea6<\/li>\n\n\n\n<li>laneide = \u81ea\u8f66\u9053 ID<\/li>\n\n\n\n<li>vf = \u969c\u788d\u8f66\u548c\u76ee\u6807\u8f66\u7684\u901f\u5ea6<\/li>\n\n\n\n<li>dcf = \u81ea\u8f66\u9053\u4e2d\u4e0e\u969c\u788d\u8f66\u7684\u8ffd\u9010\u8ddd\u79bb\u548c\u76ee\u6807\u8f66\u9053\u4e2d\u79fb\u52a8\u8f66\u8f86\u7684\u8ffd\u9010\u8ddd\u79bb<\/li>\n\n\n\n<li>dcfr = \u8ffd\u9010\u8ddd\u79bb\u4e0e\u5b89\u5168\u9608\u503c\u4e4b\u6bd4<\/li>\n\n\n\n<li>laneidf = \u969c\u788d\u8f66\u548c\u76ee\u6807\u8f66\u8f86\u7684\u8f66\u9053 ID<\/li>\n<\/ul>\n\n\n\n<p><strong>6\u3001\u5956\u52b1\u7ed3\u6784<\/strong><\/p>\n\n\n\n<p>\u5956\u52b1\u7ed3\u6784\u7531\u5355\u72ec\u7684\u9ad8\u7ea7\u671f\u6743\u5956\u52b1\u548c\u4f4e\u7ea7\u8f68\u8ff9\u9009\u62e9\u5956\u52b1\u7ec4\u6210\u3002\u5728\u6bcf\u4e2a\u65f6\u95f4\u6b65\u4e2d\uff0c\u8003\u8651\u5230\u81ea\u8f66\uff08e\uff09\u3001\u969c\u788d\u8f66\uff08o\uff09\u3001\u79fb\u52a8\u6c7d\u8f66A\uff08a\uff09\u548c\u79fb\u52a8\u6c7d\u8f66B\uff08b\uff09\uff0c\u5219\u53ef\u4ee5\u7ed9\u51fa\u4ee5\u4e0b\u60e9\u7f5a\u548c\u5956\u52b1\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5e38\u89c4\u65f6\u95f4\u6b65\u957f\u60e9\u7f5a\uff1a\u2212\u03c31<\/li>\n\n\n\n<li>\u5411\u6700\u7ec8\u76ee\u7684\u5730\u524d\u8fdb\u7684\u5e38\u89c4\u65f6\u95f4\u6b65\u957f\u5956\u52b1\uff1a\u03c32<\/li>\n\n\n\n<li>\u78b0\u649e\u60e9\u7f5a\uff1a\u2212\u03c33<\/li>\n\n\n\n<li>\u4e0d\u5b89\u5168\u60e9\u7f5a\uff1aexp \u2212\uff08dcfr\uff09\uff0c\u5176\u4e2d f 2 fo;\u4e00\u4e2a;BG\u516c\u53f8<\/li>\n\n\n\n<li>\u8fdb\u7403\u4e0d\u9700\u8981\u7684\u70b9\u7403\uff1a\u2212\u03c34<\/li>\n\n\n\n<li>\u4e0d\u5e73\u6ed1\u5ea6\u60e9\u7f5a \u2212\u03c35<\/li>\n\n\n\n<li>\u6210\u529f\u5956\u52b1 \u03c36<\/li>\n<\/ul>\n\n\n\n<p>\u81ea\u8f66\u4f1a\u56e0\u4e3a\u9009\u62e9\u9519\u8bef\u7684\u9ad8\u7ea7\u9009\u9879\u6216\u9009\u62e9\u9519\u8bef\u7684\u4f4e\u7ea7\u8f68\u8ff9\u9009\u62e9\u800c\u53d7\u5230\u5355\u72ec\u60e9\u7f5a\u3002\u5982\u679c\u9009\u62e9\u7684\u8f68\u8ff9\u5bfc\u81f4\u5b50\u76ee\u6807\u65e0\u6cd5\u6210\u529f\u5b8c\u6210\uff0c\u5219\u4f4e\u7ea7\u9009\u62e9\u4f1a\u53d7\u5230\u60e9\u7f5a\uff0c\u5728\u6211\u4eec\u7684\u4f8b\u5b50\u4e2d\uff0c\u8fd9\u610f\u5473\u7740\u4e0e\u76ee\u6807\u6c7d\u8f66\u6216\u969c\u788d\u8f66\u4e4b\u4e00\u53d1\u751f\u78b0\u649e\u3002\u6b64\u5916\uff0c\u4e3a\u4e86\u89c4\u5212\u66f4\u5b89\u5168\u3001\u66f4\u5e73\u7a33\u7684\u8f68\u8ff9\uff0c\u5982\u679c\u4e0d\u9700\u8981\u4f4e\u7ea7\u9009\u62e9\uff0c\u5c31\u4f1a\u53d7\u5230\u60e9\u7f5a\u3002\u4f8b\u5982\uff0c\u5728\u9009\u9879 1 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