The invention discloses a vehicle cooperative control method and system in a ramp confluence area scene in mixed traffic, and relates to the technical field of intelligent traffic. Comprising the following steps: constructing traffic scenes of a single-lane main road and a single-lane ramp, and designing a state space, an action space and a reward function corresponding to each agent; designing a double-delay depth deterministic strategy gradient ITD3 model, and controlling the CAV to perform two-dimensional continuous transverse driving and longitudinal driving; fusing a two-dimensional collision avoidance strategy for each agent, and constructing a KBS-ITD3 model by fusing a double-delay depth deterministic strategy gradient ITD3 model; a network model corresponding to the KBS-ITD3 model is established for training, and the trained KBS-ITD3 model is used for controlling vehicles in a ramp confluence area scene. The safety in the confluence process is greatly improved while the efficiency is guaranteed.
本发明公开了一种混合交通中匝道合流区场景的车辆协同控制方法及系统,涉及智能交通技术领域。包括:构建单车道主干道和单车道匝道的交通场景,设计每个智能体对应的状态空间、动作空间及奖励函数;设计双延迟深度确定性策略梯度ITD3模型,控制CAV进行二维连续的横向行驶和纵向行驶;为每一个智能体融合二维碰撞避免策略,通过融入双延迟深度确定性策略梯度ITD3模型构建KBS‑ITD3模型;通过对KBS‑ITD3模型建立对应的网络模型进行训练,利用训练好的KBS‑ITD3模型对匝道合流区场景中的车辆进行控制。本发明在保证效率的同时大幅提高了合流过程中的安全性。
Vehicle cooperative control method and system in ramp confluence area scene in mixed traffic
一种混合交通中匝道合流区场景的车辆协同控制方法及系统
2025-03-14
Patent
Electronic Resource
Chinese
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