The invention is suitable for the technical field of vehicle auxiliary driving, and provides a vehicle adaptive cruise control method based on projection constraint strategy optimization, which comprises the following specific steps: step 1, sampling a strategy trajectory: step 1.1, building a simulation environment; step 1.2, defining a state space and a behavior space; 1.3, designing a reward function and a safety supervision function; 1.4, a track sampling process is carried out; and step 2, strategy evaluation optimization. According to the method, collision-free self-adaptive safe cruise of the vehicle is achieved under the low computing power requirement, and high comfort and traffic efficiency are achieved. Training is carried out through a reinforcement learning method, a safety supervision trust domain is introduced on the basis, and a safety supervision value is prevented from being increased in the process that the strategy pursues reward maximization. The zero collision rate is realized for the first time in the adaptive cruise control strategy of reinforcement learning training, and the strategy can realize relatively high consistency with the expected speed under the condition of no interference of the target vehicle.

    本发明适用于车辆辅助驾驶技术领域,提供了一种基于投影约束策略优化的车辆自适应巡航控制方法,包括以下具体步骤:步骤1、策略轨迹采样:步骤1.1、仿真环境的搭建;步骤1.2、定义状态空间与行为空间;步骤1.3、奖励函数与安全监管函数设计;步骤1.4、轨迹采样过程;步骤2、策略评估优化。该方法在低算力需求下实现车辆无碰撞自适应安全巡航,并且具有较高的舒适性和交通效率。通过强化学习的方法进行训练,并在其基础上引入安全监管信任域,防止策略在追求奖励最大化的过程中增加安全监管值。在强化学习训练的自适应巡航控制策略中首次实现了零碰撞率,并且策略在没有目标车辆干扰的情况下可以实现与预期速度较大的一致性。


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    Title :

    Vehicle adaptive cruise control method based on projection constraint strategy optimization


    Additional title:

    一种基于投影约束策略优化的车辆自适应巡航控制方法


    Contributors:
    ZHAO RUI (author) / WANG KUI (author) / CHE WENBO (author) / GAO ZHENHAI (author) / GAO FEI (author) / ZHANG TIANYAO (author)

    Publication date :

    2023-10-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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