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为了解决基于常规深度强化学习(Deep Reinforcement Learning, DRL)的自动驾驶决策存在学习速度慢、安全性及合理性较差的问题,本文提出一种基于柔性演员-评论家(Soft Actor-Critic,SAC)算法的自动驾驶决策规划协同方法,并将SAC算法与基于规则的决策规划方法相结合设计自动驾驶决策规划协同智能体。结合自注意力机制(Self Attention Mechanism, SAM)和门控循环单元(Gate Recurrent Unit, GRU)构建预处理网络;根据规划模块的具体实现方式设计动作空间;运用信息反馈思想设计奖励函数,给智能体添加车辆行驶条件约束,并将轨迹信息传递给决策模块,实现决策规划的信息协同。在CARLA自动驾驶仿真平台中搭建交通场景对智能体进行训练,并在不同场景中将所提出的决策规划协同方法与常规的基于SAC算法的决策规划方法进行比较,结果表明,本文所设计的自动驾驶决策规划协同智能体学习速度提高了25.10%,由其决策结果生成的平均车速更高,车速变化率更小,更接近道路期望车速,路径长度与曲率变化率更小。 相似文献
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唐斌 《华东交通大学学报》2003,20(6):125-128
Zeugma与汉语拈连分别是英语和汉语中修辞效果很好的修辞手段,恰当和巧妙运用它们能增加语言的表现力,使所表达的语言简练生动,更富感染力,达到特殊的修辞效果.本文从涵义、表现形式、特点等方面分析和探讨了Zeugma与拈连的相同和不同之处,并指出在使用和英汉互译时应注意的问题.通过对这两种修辞格的对比研究,旨在提高语言理解、欣赏及表达能力. 相似文献
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浅埋大断面黄土隧道CRD法快速施工技术 总被引:3,自引:2,他引:1
结合郑西客运专线秦东隧道施工实例,介绍该隧道出口浅埋段采用CRD法施工的施工方法和施工工艺,以及各个工序的机械、人员配备情况。并介绍在保证安全质量前提下,如何对原设计工法进行局部优化采取的措施,以及加快施工进度的具体做法。 相似文献
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应用动态刚度矩阵法分析曲轴的动态特性.曲轴被简化为一系列的连续梁单元.在给定力和位移边界条件下,得出了考虑转动惯量和剪切变形影响的空间连续梁单元的动态刚度矩阵.总动态刚度矩阵按照常规有限元方法进行组装.采用Wittrick-Wlliams(W-W)算法和常规算法分别计算了曲轴系统的特征值和特征向量.应用本文方法、有限元方法以及相关实验数据分析了4缸直列内燃机曲轴的动态特性.通过比较,验证了文中方法的有效性和精确性. 相似文献
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The asymmetric deformation and eccentricity problems of near hemispherical diaphragm under the uniform surface load are quantitatively
characterized in the paper. The analysis is based on a 3D finite element analysis (FEA) model established according to elastic-plasticity
and large displacement nonlinear finite element method. Besides, the deformation experiments are taken to validate the reliability
of FEA model which shows that the simulation results are in good agreement with the experimental results. Then, three angle
parameters, deflection angle β, circumvolving angle θ and distributing angle γ, are introduced and expressed to characterize the asymmetric deformation and eccentricity quantitatively. According to the
angle parameters, the inversion processes of uniform thickness diaphragm and varying thickness diaphragm are calculated respectively.
The inversion process of varying thickness diaphragm is much steadier than that of uniform thickness diaphragm. The present
results show that the asymmetric deformation process can be characterized by curve of three angle parameters (β, θ, γ) exactly, the degrees of eccentricity can be indicated by the final value of deflection angle and the eccentricity position
can be characterized by the final values of the three angle parameters. 相似文献
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In this paper, the effects of hardening exponent, yield strength and elastic modulus on the deformability of near hemispherical
shells are investigated by means of finite element method and orthogonal experiment design. The largest eccentric angle during
the deformation process and thickness reduction after the deformation are introduced to estimate the deformability quantitatively
according to the deformation characteristics of near hemispherical shells. The results indicate that the hardening exponent
is the most influential parameter, followed by elastic modulus and yield strength. The shell exhibits good deformability when
the hardening exponent and elastic modulus are in the range of 0.1–0.125 and 70–108 GPa, respectively. 相似文献