The invention discloses a lane changing control method for an autonomous vehicle. The method comprises the following steps: establishing a nonlinear two-degree-of-freedom vehicle model based on yawing motion and lateral motion in the lane changing process of the vehicle; determining a state variable and an action variable according to the nonlinear and degree-of-freedom vehicle model, and determining a state space and an action space of the vehicle; setting a reward function according to the state space and the action space of the vehicle, and adding the reward function into a depth deterministic strategy gradient algorithm; a self-adaptive greedy noise and priority experience playback mechanism based on an action value is introduced into a depth deterministic strategy gradient algorithm, and a lane changing control algorithm is obtained; training a lane changing control algorithm based on the sample data to obtain a lane changing control model; and carrying out lane changing control on the automatic driving automobile by utilizing the lane changing control model. The lane changing control method for the self-driving automobile provided by the invention has stronger universality, and shortens the time required for lane changing on the premise of ensuring the lane changing safety of the automobile.

    一种自动驾驶汽车变道控制方法,包括如下步骤:基于车辆变道过程中的横摆运动和侧向运动建立非线性二自由度车辆模型;根据非线性而自由度车辆模型确定状态变量和动作变量,并且确定车辆的状态空间和动作空间;根据车辆的状态空间和动作空间设置奖励函数,并且将奖励函数添加到深度确定性策略梯度算法中;在深度确定性策略梯度算法中引入基于动作值的自适应贪婪噪声和优先经验回放机制,得到变道控制算法;基于样本数据对变道控制算法进行训练得到变道控制模型;利用变道控制模型对自动驾驶汽车进行变道控制。本发明提供一种自动驾驶汽车变道控制方法,具有更强的普适性,在保证车辆变道安全的前提下,缩短变道所需的时间。


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    Title :

    Lane changing control method for self-driving automobile


    Additional title:

    一种自动驾驶汽车变道控制方法


    Contributors:
    TAO FAZHAN (author) / ZHOU CHUNTAO (author) / JI BAOFENG (author) / ZHU LONGLONG (author) / FU ZHUMU (author) / LI MENGYANG (author) / MA HAOXIANG (author) / BI SHUHUI (author) / ZHANG JI (author) / WU HONGHAI (author)

    Publication date :

    2023-12-01


    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



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