The invention discloses an automobile stability coordination control method based on reinforcement learning, and belongs to the technical field of electric automobile control, the method comprises the following steps: using a linear two-degree-of-freedom model to obtain an expected yaw velocity and an expected side slip angle; additional yawing moment and a steering angle of a driving rear wheel are obtained through sliding mode control; acquiring the state type of the current vehicle; constructing an intelligent agent and a reward function of reinforcement learning, and continuously training the intelligent agent until the optimal cooperative control coefficients of the additional yaw moment and the steering angle of the active rear wheel are output, so as to realize the cooperative control of the electric vehicle; the reward function includes a steady state reward, a yaw velocity error and side slip angle error reward, a critical steady state reward, and an anti-jitter reward. According to the invention, the steering and yawing moment of the driving rear wheel can be coordinated and controlled, so that the stability and safety of the vehicle are ensured.
本发明公开了一种基于强化学习的汽车稳定性协调控制方法,属于电动汽车控制技术领域,方法包括:利用线性二自由度模型,获取期望横摆角速度和期望质心侧偏角;通过滑模控制,获取附加横摆力矩和主动后轮转向转角;获取当前车辆的状态类型;构建强化学习的智能体和奖励函数,并不断训练智能体,直至输出附加横摆力矩和主动后轮转向转角各自的最优协同控制系数,以实现对电动汽车的协调控制;奖励函数包括稳定状态奖励、横摆角速度误差和质心侧偏角误差奖励、临界稳定状态奖励以及防抖动奖励。本发明能够对主动后轮转向与横摆力矩协调控制,以保证车辆的稳定性和安全性。
Automobile stability coordination control method based on reinforcement learning
一种基于强化学习的汽车稳定性协调控制方法
2025-02-11
Patent
Electronic Resource
Chinese
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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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