The invention discloses an automatic driving vehicle highway intelligent lane changing method based on reinforcement learning, which optimizes a highway automatic driving decision strategy by designing an improved Huber regularization reward threshold adaptive double depth Q network (HRA-DDQN) framework. The method comprises the following steps: firstly, constructing a state space and an action space to describe dynamic behaviors of a vehicle, and introducing a comprehensive reward function based on safety, efficiency and lane changing requirements; secondly, through a dynamic target network updating mechanism triggered by reward differences, the adaptability of the model to traffic environment changes is improved; and finally, introducing a hybrid loss function combining Huber loss and L2 regularization to enhance the robustness and generalization ability of the model. Simulation results show that the driving efficiency and safety of the automatic driving vehicle in the expressway scene are remarkably improved, the collision rate is reduced, the stability of lane changing decision making is optimized, and the method is suitable for the complex and changeable expressway traffic environment.

    本发明公开了一种基于强化学习的自动驾驶车辆高速公路智能变道方法,通过设计一种改进的Huber正则化奖励阈值自适应双深度Q网络(HRA‑DDQN)框架,本发明优化了高速公路自动驾驶决策策略。首先,构建状态空间和动作空间,以描述车辆的动态行为,并引入基于安全性、效率与换道需求的综合奖励函数;其次,通过奖励差异触发的动态目标网络更新机制,提高模型对交通环境变化的适应性;最后,引入结合Huber损失与L2正则化的混合损失函数,以增强模型的鲁棒性和泛化能力。仿真结果表明,本发明显著提升了高速公路场景中自动驾驶车辆的行驶效率和安全性,降低了碰撞率,并优化了换道决策的稳定性,适用于复杂多变的高速公路交通环境。


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    Title :

    Intelligent highway lane changing method for autonomous vehicle based on reinforcement learning


    Additional title:

    一种基于强化学习的自动驾驶车辆高速公路智能变道方法


    Contributors:
    JIANG MINGZUO (author) / WANG ZI (author)

    Publication date :

    2025-03-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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