摘要
自适应巡航控制是智能驾驶领域的核心技术,可通过分层控制或参数可变控制算法实现,但这些算法无法有效应对突发的跟车路况。为此,将深度强化学习与自适应巡航控制相结合,提出基于确定性策略梯度算法的自适应巡航控制算法,使智能车辆可以在自学习过程中完成自适应巡航并不断改进。在开源平台上的测试结果表明,该算法可以使智能驾驶车辆在跟车时加速度保持在1.8 m/s^2以内的比例超过90%,达到人类驾驶员的巡航跟车水平。
Adaptive Cruise Control( ACC) is one of the most core technologies in the field of smart driving.Researchers mostly use traditional hierarchical control methods or variable control algorithms to implement this technology. These algorithms can not respond effectively to unexpected follow-up road conditions. For this reason,this paper combines deep reinforcement learning with ACC, and proposes an ACC algorithm based on deterministic strategy gradient algorithm, so that the intelligent vehicle can complete adaptive cruise and continue to improve in the continuous self-learning process. The test results under the open source platform show that this algorithm can make the ratio of the acceleration of the smart driving vehicle within 1. 8 m/s^2 within 90% of the follow-up acceleration,which can reach the level of the cruise control of the human pilot.
作者
韩向敏
鲍泓
梁军
潘峰
玄祖兴
HAN Xiangmin;BAO Hong;LIANG Jun;PAN Feng;XUAN Zuxing(Beijing Key Laboratory of Information Service Engineering,Beijing Union University,Beijing 100101,China)
出处
《计算机工程》
CAS
CSCD
北大核心
2018年第7期32-35,41,共5页
Computer Engineering
基金
国家自然科学基金"视听觉信息的认知计算"重大研究计划重点支持项目"智能车驾驶脑认知技术
平台与转化研究"(91420202)
英国皇家工程院牛顿基金(UK-CIAPP/324)
北京市属高校高水平教师队伍建设支持计划项目(IDHT20170511)
北京市教委科研计划项目(KM201811417006)
关键词
智能驾驶
自动控制
自适应巡航控制
深度强化学习
确定性策略梯度算法
smart driving
automatic control
Adaptive Cruise Control ( ACC)
deep reinforcement learning
deterministicstrategy gradient algorithm