The invention relates to an intelligent network connection vehicle intersection coordinated driving control method and system and a computer readable storage medium. The intelligent network connection vehicle intersection coordinated driving control method comprises the following steps: S1, establishing a directed graph of a road network topology by adopting a graph theory method; s2, extracting state characteristics of the intelligent network connection vehicle by using a two-dimensional grid coding method, and converting the state of the intelligent network connection vehicle into a binary vector; s3, constructing a first reinforcement learning sub-model for exciting the vehicle to quickly arrive at the terminal point; s4, constructing a second reinforcement learning sub-model for avoiding vehicle collision; and S5, fusing the first reinforcement learning sub-model and the second reinforcement learning sub-model to form a fusion model, and calculating to obtain an optimal behavior of global return in a maximized environment. According to the method, unnecessary parking of the vehicle can be avoided, the global return at the intersection is maximized, and the generalization ability is high.
本申请涉及一种智能网联车辆交叉口协调驾驶控制方法、系统和计算机可读存储介质。所述智能网联车辆交叉口协调驾驶控制方法包括:S1,采用图论方法建立道路网络拓扑的有向图;S2,使用二维网格编码方法提取智能网联车辆的状态特征,将智能网联车辆的状态转换成二进制向量;S3,构建激励车辆快速到达终点的第一强化学习子模型;S4,构建避免车辆碰撞的第二强化学习子模型;S5,将所述第一强化学习子模型和第二强化学习子模型融合构成融合模型,计算得到最大化环境中的全局回报的最优行为。本申请能避免车辆不必要停车,使交叉口全局回报最大化,且泛化能力较强。
Intelligent network connection vehicle intersection coordinated driving control method and system and storage medium
智能网联车辆交叉口协调驾驶控制方法、系统和存储介质
2023-10-17
Patent
Electronic Resource
Chinese
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