Apparatus and method for jointly learning accident trigger for an autonomous vehicle

摘要

The present invention provides a configuration setting unit for setting the arrangement positions of a plurality of objects including a friendly object and a hostile object with a subject, which is an autonomous moving object, in a preset simulation environment, and a simulation environment in which the subject and a plurality of objects are arranged from the perspective of the subject. an observation state conversion unit that obtains observation state information for observing , determines the operation of the subject based on the observation state information according to a learned pattern, and determines the operation of a plurality of objects based on the operation of the subject and the operation of another object A behavior decision unit that determines each operation, a change environment reset unit that changes the simulation environment by reflecting the determined operation results of each of the subject and a plurality of objects in the simulation environment, and analyzes the changed simulation environment and is inversely proportional to the accident damage For an autonomous mobile including a behavior determining unit that calculates a reward to calculate a reward, backpropagates the calculated reward with the same code for the subject and the friendly object, and backpropagates the calculated reward with an opposite sign for the hostile object to learn the behavior decision unit A learning apparatus and method may be provided.