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解决行人避障问题,同时保持车辆沿道路行驶#3244

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donghaiwang merged 17 commits into
OpenHUTB:mainfrom
joe-justin369:main
Dec 15, 2025
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解决行人避障问题,同时保持车辆沿道路行驶#3244
donghaiwang merged 17 commits into
OpenHUTB:mainfrom
joe-justin369:main

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@joe-justin369

@joe-justin369 joe-justin369 commented Dec 15, 2025

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修改概述:

修改的详细描述

  1. 重构了自动驾驶DQN模型的训练系统,显著提升了行人避障能力
  2. 优化了奖励函数平衡道路保持与行人避障的权衡
  3. 改进了训练策略,实现渐进式难度学习
  4. 增强了模型稳定性和安全性控制

经过了什么样的测试?

  1. windows 11
  2. Python3.7.9运行无报错
  3. Carla模拟流畅,符合预期

运行效果

动图、视频、截图等

redpandacompress_.2025-12-15.104722.mp4
屏幕截图 2025-12-15 110523

@donghaiwang
donghaiwang merged commit 4ae6824 into OpenHUTB:main Dec 15, 2025
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2 participants