The invention belongs to the technical field of intelligent automobiles, and discloses an intelligent connected automobile highway confluence decision-making method considering action asynchronism, which comprises the following steps: S1, carrying out function definition on an intelligent connected automobile ICV and a human driving automobile HDV; s2, representing an intelligent connected automobile highway confluence decision under mixed traffic as a multi-agent reinforcement learning problem based on a Stackelberg game, and designing a time-space sequence Markov decision process considering vehicle action asynchronism; s3, a Stackelberg game model is constructed; and S4, carrying out training and evaluation by adopting an Actor-Critic multi-agent reinforcement learning framework. Aiming at the asynchronism of vehicle action collaboration in the highway confluence area, the method can effectively improve the confluence decision-making capability of the intelligent network connection vehicle in the highway confluence area under mixed traffic.
本发明属于智能汽车技术领域,公开了一种考虑动作异步性的智能网联汽车高速公路合流决策方法,包括:S1.对智能网联汽车ICV和人类驾驶汽车HDV进行功能定义;S2.把混合交通下智能网联汽车高速公路合流决策表征为一个基于Stackelberg博弈的多智能体强化学习问题,设计考虑车辆动作异步性的时空序列马尔可夫决策过程;S3.构建Stackelberg博弈模型;S4.采用Actor‑Critic多智能体强化学习框架进行训练与评估。针对高速公路合流区车辆动作协同的异步性,本发明能有效提升智能网联汽车在混合交通下高速公路合流区的合流决策能力。
Intelligent network connection automobile highway confluence decision-making method considering action asynchronism
考虑动作异步性的智能网联汽车高速公路合流决策方法
2024-10-15
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES |
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