The invention provides an automatic driving lane-oriented vehicle trajectory optimization control method, which comprises the steps of designing an automatic driving lane under a mixed flow condition, obtaining vehicle operation information and environment information, designing a targeted car following and lane changing model based on a DDPG algorithm and a DQN algorithm, and training to obtain an optimal vehicle trajectory optimization controller. And the intelligent network connection vehicle is controlled. On the basis of the automatic driving exclusive lane, the deep reinforcement learning framework is adopted to perform trajectory optimization control on the networked automatic driving vehicle, the microscopic income and the macroscopic income of exclusive lane convergence are considered, and the method has important theoretical significance and actual value for optimizing the automatic driving trajectory control method in the exclusive lane setting scene.

    本发明提出了一种面向自动驾驶专用道的车辆轨迹优化控制方法,包括:设计混合流条件下的自动驾驶专用道,获取车辆运行信息与环境信息,分别基于DDPG算法和DQN算法设计具有针对性的跟驰与换道模型,训练得到最优车辆轨迹优化控制器,对智能网联车辆进行控制。本发明在自动驾驶专用道基础上采用深度强化学习框架对网联自动驾驶车辆进行轨迹优化控制,考虑专用道汇入的微观收益与宏观收益,对优化专用道设置场景下的自动驾驶轨迹控制方法具有重要的理论意义和实际价值。


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    Title :

    Vehicle track optimization control method for automatic driving lane


    Additional title:

    一种面向自动驾驶专用道的车辆轨迹优化控制方法


    Contributors:
    XU CHENGCHENG (author) / CHEN YUFEI (author) / JIANG XUAN (author) / TONG HAO (author) / MA CHENXIANG (author)

    Publication date :

    2024-12-06


    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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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