The invention relates to the technical field of intelligent driving, and discloses a homing driving control method for an unmanned vehicle, and the method comprises the steps: carrying out the discretization of a current driving path of the unmanned vehicle; a target point and attributes of the target point are obtained from the discrete path points by establishing a function relation between the foresight distance and the speed, and the attributes of the target point comprise the direction angle and the position of the target point; calculating a difference value between the course angle of the unmanned vehicle and the direction angle of the target point, and recording the difference value as a control angle; calculating a difference value between the transverse position of the unmanned vehicle and the transverse coordinate of the target point; based on a deep reinforcement learning method, enabling the course angle and the transverse position of the unmanned vehicle to be consistent with the direction angle and the transverse coordinate of the target point respectively, and carrying out target searching on the target point to realize training of a neural network; performing autonomous decision making by using the trained neural network; according to the invention, transverse and longitudinal control of the unmanned vehicle in different driving tasks is realized, and trajectory tracking precision and stability are effectively improved.
本发明涉及智能驾驶技术领域,公开了一种无人驾驶车辆寻的驾驶控制方法,包括:将无人驾驶车辆当前行驶的路径离散化;通过建立前视距离与速度的函数关系,从离散路径点中获取目标点和目标点的属性,目标点的属性包括目标点的方向角和位置;计算无人驾驶车辆的航向角与目标点的方向角的差值,记为控制角;计算无人驾驶车辆的横向位置与目标点的横向坐标的差值;基于深度强化学习方法,使无人驾驶车辆的航向角、横向位置分别与目标点的方向角和横向坐标一致,对目标点进行寻的,实现对神经网络的训练;使用完成训练的神经网络进行自主决策;本发明实现了在不同驾驶任务中,无人驾驶车辆横向和纵向控制,有效地提高了轨迹跟踪精度和稳定性。
Unmanned vehicle homing driving control method
一种无人驾驶车辆寻的驾驶控制方法
2025-02-25
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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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