The invention discloses a vehicle lane-changing overtaking path planning method based on Q learning. A vehicle driving state is described by establishing a vehicle-road system model, an award and penalty function of a Q learning algorithm is designed by considering the vehicle driving state, the driving safety and factors whether a target can be completed, and a vehicle can be guided to complete the overtaking driving target as soon as possible in the condition that the safety is guaranteed. The method specifically comprises the following steps of (1) establishing the vehicle-road system model; (2) determining a safe distance between a main vehicle and an ambient vehicle; (3) defining the state and action of the Q learning, and designing the award and penalty function in the driving process of the main vehicle; and (4) performing simulation training according to the state, the action and the award and penalty function which are determined in the step (3), and generating an optimal overtaking path of the main vehicle. According to the method, the risk that the main vehicle collides with the ambient vehicle in the driving process can be avoided, and the planned path preferably meetsthe actual driving requirement.
本发明公开了一种基于Q学习的车辆变道超车路径规划方法,通过建立车辆‑道路系统模型实现对车辆驾驶状态的描述,考虑车辆行驶状态、行驶安全以及能否完成目标的因素,设计Q学习算法的奖励惩罚函数,引导车辆能在保证安全的条件下尽快完成超车的驾驶目标;本方法具体包括如下步骤:步骤一、建立车辆‑道路系统模型;步骤二、确定主车与周围环境车辆的安全距离;步骤三、定义Q学习的状态、动作并设计主车行驶过程中的奖励惩罚函数;步骤四、根据步骤三确定的状态、动作和奖励惩罚函数进行仿真训练,生成主车超车最优路径;本方法能够避免主车在行驶过程中与周围环境车辆发生碰撞危险,规划出的路径更符合实际驾驶要求。
Vehicle lane-changing overtaking path planning method based on Q learning
一种基于Q学习的车辆变道超车路径规划方法
2020-12-08
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 |
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