The invention discloses an AFS, ARS and DYC cooperative control method for a distributed electric drive vehicle based on a DDPG. According to the method, a cooperative regulation and control method and a deep reinforcement learning method are utilized, and a vehicle stability control method is designed and developed based on a side slip angle and a yaw velocity; and the stability of the vehicle is judged by taking a driving signal provided by a driver and measured or estimated vehicle state information as input. When intervention of the active safety system is needed, the DDPG-AAD model trained offline through the strategy depth gradient algorithm is used for coordinating and controlling the AFS system, the ARS system and the DYC system, accurate and independent control over each wheel is achieved, and therefore the active safety driving stability of the vehicle is improved.
本发明公开了一种基于DDPG的分布式电驱动车辆的AFS、ARS和DYC协同控制方法,该方法利用协同调控方法和深度强化学习方法,基于质心侧偏角和横摆角速度设计开发了车辆稳定性控制方法;以驾驶员提供的驾驶信号和测量或估计的车辆状态信息作为输入,判断车辆的稳定性。当需要主动安全系统干预时,利用策略深度梯度算法离线训练好的DDPG‑AAD模型协调控制AFS、ARS和DYC系统,实现对每个车轮的精确、独立控制,从而提高车辆的主动安全行驶稳定性。
AFS, ARS and DYC cooperative control method of distributed electric drive vehicle based on DDPG
基于DDPG的分布式电驱动车辆的AFS、ARS和DYC协同控制方法
2024-03-29
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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