A reinforcement learning algorithm-based predictive control method for lateral and longitudinal coupled vehicle formation includes S1, combining a 3-DOF vehicle dynamics model that takes into account a nonlinear magic formula tire model with a lane keeping model and establishing a vehicle formation model; S2, constructing a distributed control framework and designing a local predictive controller for each following vehicle based on the vehicle formation model under the control framework; S3, using a reinforcement learning algorithm to solve the optimal control strategy of the local predictive controller, and applying the optimal control strategy to the target following vehicle. The present application completes the lateral and longitudinal coupled modeling of vehicle formation and considers the nonlinear characteristics of tires. In addition, the present application also transforms the global optimization problem of vehicle formation into a local optimization problem of each following vehicle.
REINFORCEMENT LEARNING ALGORITHM-BASED PREDICTIVE CONTROL METHOD FOR LATERAL AND LONGITUDINAL COUPLED VEHICLE FORMATION
2024-03-14
Patent
Electronic Resource
English
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 |