The invention provides an intelligent network connection vehicle cluster splitting and recombination cooperative control method in a multi-lane scene. The method comprises the following steps: firstly, analyzing vehicle running state information composition, describing communication and motion characteristics of a vehicle cluster, and constructing a communication topology model of the vehicle cluster by adopting a linear consistency controller as a basic control model; then, considering dynamic characteristics and cluster coupling characteristics of the vehicle, and constructing a vehicle cluster dynamic model; and finally, modeling is performed on a typical scene in vehicle cluster operation, an award function of a deep reinforcement learning method is constructed, intelligent agent setting is performed at the same time, a model multi-intelligent agent layered reinforcement learning method is constructed on an upper layer, and a multi-lane vehicle formation control model is used on a lower layer. The optimal expected acceleration of the intelligent networked vehicle is output by dynamically optimizing the parameters of the basic control model, and the expected acceleration is widely converted into an accelerator/brake control command which can be directly executed by the vehicle, so that the splitting and recombination of the intelligent networked vehicle cluster in the urban road environment are realized, and the safety and high efficiency of driving are ensured.
本发明提出一种多车道场景下智能网联车辆集群拆分与重组协同控制方法。首先,分析车辆运行状态信息组成,描述车辆集群的通信及运动特性,采用线性一致性控制器作为基础控制模型,构建车辆集群的通信拓扑模型。然后,考虑车辆的动力学特征和集群耦合特性,构建车辆集群动力学模型。最后,对车辆集群运行中的典型场景进行建模,构建深度强化学习方法的奖励函数同时进行智能体的设置,上层构建模型多智能体分层强化学习方法,下层使用多车道车辆编队控制模型,通过动态优化基础控制模型参数输出最优的智能网联汽车期望加速度,并将期望加速广转换为车辆可直接执行的油门/制动控制命令,实现城市道路环境下智能网联车辆集群的拆分与重组并保证行驶的安全与高效。
Intelligent network connection vehicle cluster splitting and recombination cooperative control method in multi-lane scene
多车道场景下智能网联车辆集群拆分与重组协同控制方法
2024-11-15
Patent
Electronic Resource
Chinese
IPC: | G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / 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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / H04L TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION , Übertragung digitaler Information, z.B. Telegrafieverkehr / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze |
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