The invention relates to the technical field of traffic signal lamp and vehicle cooperative control, and discloses a traffic signal lamp and vehicle cooperative control method based on heterogeneous hierarchical reinforcement learning. According to the invention, the traffic lights and the CAV are cooperatively controlled by using two types of agents, and the two types of agents interact and cooperate with each other, so that the overall traffic efficiency in a mixed traffic flow environment is improved; the two types of intelligent agents effectively perform information communication and task cooperation through a hierarchical cooperation mechanism, so that the traffic efficiency of the intersection and the safety and comfort of CAV driving are further improved; by means of a heterogeneous multi-agent learning framework, effective collaborative learning is carried out on heterogeneous multiple tasks, the problem of unstable training is solved, and the overall training effect is improved.
本发明涉及交通信号灯和车辆协同控制技术领域,公开了一种基于异构分层强化学习的交通信号灯和车辆协同控制方法。本发明使用两类智能体对交通信号灯和CAV进行协同控制,两类智能体相互交互配合,提高混合交通流环境下的整体交通效率;两类智能体通过分层合作机制有效地进行信息沟通和任务协作,进一步提高交叉口的通行效率和CAV驾驶的安全性和舒适性;借助异构多智能体学习框架,对异构多任务进行有效协作学习,解决训练不稳定的问题,提高整体训练效果。
Traffic signal lamp and vehicle cooperative control method based on heterogeneous hierarchical reinforcement learning
基于异构分层强化学习的交通信号灯和车辆协同控制方法
2025-03-11
Patent
Electronic Resource
Chinese
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