The invention discloses a vehicle adaptive control method and system, a storage medium and a vehicle, and the method comprises the steps: building a vehicle dynamics model, and describing the motion state and control input of the vehicle in an uncertain environment through the vehicle dynamics model; acquiring sensor data of the vehicle, and taking the sensor data as a state space of a deep reinforcement learning algorithm; setting a target function of the vehicle in a moving process, and taking the target function as a reward function of a deep reinforcement learning algorithm; setting a deep neural network as a value function or a strategy function of a deep reinforcement learning algorithm, inputting optimal or suboptimal control input according to the state space and the reward function, and taking the optimal or suboptimal control input as control output of a VCU vehicle adaptive control algorithm; and carrying out online or offline training and updating on the deep neural network so as to realize self-adaptive control of the VCU on the vehicle. According to the invention, efficient, safe, comfortable and stable operation of the vehicle in an uncertain environment is realized.
本发明公开了一种车辆自适应控制方法、系统、存储介质及车辆,该方法包括:建立车辆动力学模型,通过车辆动力学模型描述车辆在不确定环境中的运动状态与控制输入;获取车辆的传感器数据,并将其作为深度强化学习算法的状态空间;设定车辆在运动过程中的目标函数,并将其作为深度强化学习算法的奖励函数;设定深度神经网络作为深度强化学习算法的值函数或策略函数,根据状态空间与奖励函数,输入最优或次优的控制输入,并将其作为VCU车辆自适应控制算法的控制输出;对深度神经网络进行在线或离线训练与更新,以实现VCU对车辆的自适应控制。本发明实现了车辆在不确定性环境中的高效、安全、舒适和稳定的运行。
Vehicle adaptive control method and system, storage medium and vehicle
一种车辆自适应控制方法、系统、存储介质及车辆
2023-08-01
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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