The invention relates to a multi-vehicle cooperative control method and device for a ramp confluence area, equipment and a storage medium, and the method comprises the steps: dividing the ramp confluence area into a preparation area and an afflux area in an offline training process, formulating different control targets for the preparation area and the afflux area, optimizing an MADDPG algorithm, and carrying out the optimization of the MADDPG algorithm; sequentially training the multi-agent distributed control models of the preparation area and the afflux area through an MADDPG algorithm; and in an online decision-making stage, the trained multi-agent distributed control model of the preparation area and the convergence area can be directly utilized to realize efficient and safe convergence of the main ramp target vehicle cluster. Therefore, the problems that in a ramp convergence scene in the prior art, the multi-vehicle cooperative control duration is likely to be increased along with the increase of the vehicle control number, the calculation complexity is large, the real-time performance is poor, and the passing efficiency and the multi-vehicle cooperative performance are difficult to guarantee are solved.
本申请涉及一种匝道合流区多车协同控制的方法、装置、设备及存储介质,其中,方法包括:在离线训练过程中,通过将匝道合流区域划分为准备区与汇入区,分别针对准备区与汇入区制定不同控制目标,对MADDPG算法进行优化,通过MADDPG算法依次训练准备区与汇入区的多智能体分布式控制模型;进而在在线决策阶段,可直接利用训练完成的准备区与汇入区的多智能体分布式控制模型,实现主匝道目标车辆集群的高效、安全汇入。由此,解决了现有技术在匝道汇入场景中,多车协同控制时长容易随车辆控制数量增加而增长,计算复杂度较大,实时性较差,难以保障通行效率和多车协同性能等问题。
Multi-vehicle cooperative control method, device and equipment in ramp confluence area and storage medium
匝道合流区多车协同控制的方法、装置、设备及存储介质
2023-11-24
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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