The invention relates to a method for supporting a maneuvering action planning (33) of an autonomous vehicle (50) or a robot, wherein a state space (10) of the environment of the vehicle (50) or robot is described in discrete form by means of a Markov decision problem, an optimal action value (Qx) of a discrete action (At) is determined starting from a discrete state (11) in the state space (10) by means of dynamic programming,and a mapping (20) having a state (11) in a state space (10) as an input value and an action value (Qx) of an action (At) in the state space (10) as an output value is learned by means of a reinforcement learning method, a reinforcement learning agent is initialized on the basis of an optimal action value (Qx) determined by means of dynamic programming, and the learned mapping (20) is provided for a maneuver action plan (33). The invention also relates to a device (1) for supporting a motorized action planning (33) of the autonomous vehicle (50) or robot.
METHOD AND DEVICE FOR SUPPORTING MANEUVER PLANNING FOR AUTOMATED DRIVING VEHICLE OR ROBOT