Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning frame...Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning framework for autonomous driving based on a hybrid data-and model-driven method.First,a data-driven decision-making module based on deep reinforcement learning(DRL)is developed to pursue a rational driving performance as much as possible.Then,model predictive control(MPC)is employed to execute both longitudinal and lateral motion planning tasks.Multiple constraints are defined according to the vehicle’s physical limit to meet the driving task requirements.Finally,two principles of safety and rationality for the self-evolution of autonomous driving are proposed.A motion envelope is established and embedded into a rational exploration and exploitation scheme,which filters out unreasonable experiences by masking unsafe actions so as to collect high-quality training data for the DRL agent.Experiments with a high-fidelity vehicle model and MATLAB/Simulink co-simulation environment are conducted,and the results show that the proposed online-evolution framework is able to generate safer,more rational,and more efficient driving action in a real-world environment.展开更多
目的研究正在高效联合抗反转录病毒治疗(highly active antiretroviral therapy,HAART)治疗AIDS患者因不同因素引起的股骨颈骨折人工髋关节置换手术治疗效果及并发症分析,为AIDS患者股骨颈骨折手术治疗的术前评估、手术治疗效果及并发...目的研究正在高效联合抗反转录病毒治疗(highly active antiretroviral therapy,HAART)治疗AIDS患者因不同因素引起的股骨颈骨折人工髋关节置换手术治疗效果及并发症分析,为AIDS患者股骨颈骨折手术治疗的术前评估、手术治疗效果及并发症的预防提供可靠的参考依据。方法分析2015年6月—2019年6月期间河南省传染病医院收治的正在HAART治疗152例因不同因素(摔倒跌伤、交通事故伤、高处坠落伤、非暴力伤)引起的股骨颈骨折AIDS患者,进行人工全髋关节置换术治疗,观察术后关节活动功能及并发症发生情况,回顾性分析所有患者的随访资料。结果入组AIDS患者共152例,均采取围手术期规范化处理,均采取标准的人工全髋关节置换术。术后随访平均12个月,术后离床活动时间平均为(2±1.5)天,优良率97.4%。无关节假体松动及断裂出现,未发现症状性静脉血栓发生,97例患者出现围手术期血红蛋白(Hb)与出血量、输血量等预算明显不一致,称之为不对称性贫血,21例出现低蛋白血症及电解质紊乱,出现3例血培养均为大肠埃希氏菌菌血症,3例出现肺部感染(1例为流感嗜血杆菌、2例为肺炎克雷伯杆菌),而无切口感染,依据临床经验和药物敏感性试验,给予敏感抗菌药物抗感染治疗,均得到完全治愈,所有患者术后疼痛迅速消失,关节功能迅速恢复,均恢复正常的日常生活及工作。结论AIDS患者股骨颈骨折人工全髋关节置换手术治疗取得满意的疗效,安全有效,重视和加强AIDS患者骨科围手术期处理,积极采取有效措施,使患者机体内环境接近正常状态,降低围手术期严重并发症,才能保障AIDS患者围手术期安全。展开更多
基金the financial support of the National Key Research and Development Program of China(2020AAA0108100)the Shanghai Municipal Science and Technology Major Project(2021SHZDZX0100)the Shanghai Gaofeng and Gaoyuan Project for University Academic Program Development for funding。
文摘Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning framework for autonomous driving based on a hybrid data-and model-driven method.First,a data-driven decision-making module based on deep reinforcement learning(DRL)is developed to pursue a rational driving performance as much as possible.Then,model predictive control(MPC)is employed to execute both longitudinal and lateral motion planning tasks.Multiple constraints are defined according to the vehicle’s physical limit to meet the driving task requirements.Finally,two principles of safety and rationality for the self-evolution of autonomous driving are proposed.A motion envelope is established and embedded into a rational exploration and exploitation scheme,which filters out unreasonable experiences by masking unsafe actions so as to collect high-quality training data for the DRL agent.Experiments with a high-fidelity vehicle model and MATLAB/Simulink co-simulation environment are conducted,and the results show that the proposed online-evolution framework is able to generate safer,more rational,and more efficient driving action in a real-world environment.
文摘目的研究正在高效联合抗反转录病毒治疗(highly active antiretroviral therapy,HAART)治疗AIDS患者因不同因素引起的股骨颈骨折人工髋关节置换手术治疗效果及并发症分析,为AIDS患者股骨颈骨折手术治疗的术前评估、手术治疗效果及并发症的预防提供可靠的参考依据。方法分析2015年6月—2019年6月期间河南省传染病医院收治的正在HAART治疗152例因不同因素(摔倒跌伤、交通事故伤、高处坠落伤、非暴力伤)引起的股骨颈骨折AIDS患者,进行人工全髋关节置换术治疗,观察术后关节活动功能及并发症发生情况,回顾性分析所有患者的随访资料。结果入组AIDS患者共152例,均采取围手术期规范化处理,均采取标准的人工全髋关节置换术。术后随访平均12个月,术后离床活动时间平均为(2±1.5)天,优良率97.4%。无关节假体松动及断裂出现,未发现症状性静脉血栓发生,97例患者出现围手术期血红蛋白(Hb)与出血量、输血量等预算明显不一致,称之为不对称性贫血,21例出现低蛋白血症及电解质紊乱,出现3例血培养均为大肠埃希氏菌菌血症,3例出现肺部感染(1例为流感嗜血杆菌、2例为肺炎克雷伯杆菌),而无切口感染,依据临床经验和药物敏感性试验,给予敏感抗菌药物抗感染治疗,均得到完全治愈,所有患者术后疼痛迅速消失,关节功能迅速恢复,均恢复正常的日常生活及工作。结论AIDS患者股骨颈骨折人工全髋关节置换手术治疗取得满意的疗效,安全有效,重视和加强AIDS患者骨科围手术期处理,积极采取有效措施,使患者机体内环境接近正常状态,降低围手术期严重并发症,才能保障AIDS患者围手术期安全。
