The invention relates to the technical field of intelligent driving, and discloses an unmanned vehicle cooperative lane changing control method, which comprises the following steps: constructing a Dueling Double DQN network; the method comprises the following steps: constructing a single vehicle transverse controller based on a Dueling Double DQN network, and making a lane change decision for a current vehicle; based on the intelligent driver model, a single vehicle longitudinal controller is constructed, and the longitudinal speed of the current vehicle is adjusted; and constructing a multi-agent reinforcement learning framework for making a multi-vehicle lane changing decision. According to the invention, in an uncertain driving environment, on the basis of the obtained own vehicle state and the surrounding vehicle state, lanes on which all vehicles run at the next moment are decided through a multi-agent reinforcement learning algorithm, and the own vehicle speed is adjusted according to an intelligent driver model, so that collision with a front vehicle is avoided; a plurality of unmanned vehicles can safely change lanes in an uncertain driving environment, so that the passing efficiency is improved, and the traffic jam is reduced.
本发明涉及智能驾驶技术领域,公开了一种无人驾驶车辆协同换道控制方法,包括:构建Dueling Double DQN网络;基于Dueling Double DQN网络构建单车横向控制器,对当前车辆做出车道变更决策;基于智能驾驶员模型,构建单车纵向控制器,调整当前车辆的纵向速度;构建多智能体强化学习框架,用于做出多车换道决策。本发明在不确定的行车环境中,基于获取的自车状态和周围车辆状态,通过多智能体强化学习算法决策出下一时刻所有车辆各自行驶的车道,同时根据智能驾驶员模型调整自车车速,避免与前车碰撞,能够在不确定驾驶环境下多辆无人驾驶车辆安全变道,提高了通行效率,减轻交通拥堵。
Collaborative lane changing control method for unmanned vehicle
一种无人驾驶车辆协同换道控制方法
2025-03-07
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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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