The invention discloses a knowledge and data fusion driven cloud control type networked vehicle cooperative cruise control method, and belongs to the field of automobile intelligent safety and automatic driving. The cloud control type vehicle cooperative cruise control strategy and strategy learning process comprises the following steps: 1) realizing a multi-agent cooperative control model guidance method based on model predictive control MPC, adding a safe distance to avoid collision so as to generate demonstration data for training a strategy network, and pre-training the strategy network by utilizing imitation learning; (2) designing a reinforcement learning model and a heuristic reward function thereof according to the thought of knowledge-guided learning by utilizing a reinforcement learning improvement strategy on the basis of imitation learning, fusing traffic road information in the reward function, adding an anti-collision strategy in the model, accelerating reinforcement model training, improving learning efficiency, obtaining a completely distributed controller, and obtaining a fully distributed controller; and cloud control type vehicle cooperative cruise control is realized. The strategy considers the rough pavement design vertical comfort, and can obviously improve the problems of traffic jam, passenger comfort, potential safety hazards and the like.
知识和数据融合驱动的云控式网联车辆协同巡航控制方法,属于汽车智能安全与自动驾驶领域。提出云控式车辆协同式巡航控制策略,策略学习过程:1)基于模型预测控制MPC实现多智能体协同控制的模型引导方法,加入安全距离避免碰撞,以产生用于训练策略网络的演示数据,利用模仿学习预训练策略网络;2)在模仿学习的基础上利用强化学习改进策略,根据知识引导学习的思想设计强化学习模型及其启发式奖励函数,在奖励函数中融合交通道路信息,在模型中加入防碰撞策略,加速强化模型训练提高学习效率,得到完全分布式控制器,实现云控式车辆协同式巡航控制。该策略考虑粗糙路面设计垂直舒适度,可明显改善交通拥堵、乘客舒适度和安全隐患等问题。
Knowledge and data fusion driven cloud control type networked vehicle cooperative cruise control method
知识和数据融合驱动的云控式网联车辆协同巡航控制方法
2023-10-10
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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