The invention discloses a distributed driving vehicle composite steering control method based on reinforcement learning interaction MPC. The method comprises the following steps: step 1, distributed driving vehicle steering control based on MPC; 2, composite steering control parameter optimization based on reinforcement learning; thirdly, compensation control of the modular composite steering system is carried out; and 4, performing redundancy control on the composite steering system. The method has the beneficial effects that the accurate model is established under the sudden turn working condition of the multi-axis distributed driving vehicle; optimal stability adjustment of the vehicle under the sudden turning working condition is achieved, and the rollover risk is greatly reduced. The control stability and the adaptability of the vehicle under the sudden turning working condition in the changeable environment are greatly improved; the smoothness of the vehicle during steering mode switching is improved; dependence on a prior fault model is eliminated, and accurate and rapid fault positioning of a single round is realized.

    本发明公开了一种基于强化学习交互MPC的分布式驱动车辆复合转向控制方法,其方法为:第一步、基于MPC的分布式驱动车辆转向控制;第二步、基于强化学习的复合转向控制参数优化;第三步、模块化复合转向系统补偿控制;第四步、复合转向系统冗余控制。有益效果:实现了针对多轴分布式驱动车辆急转工况下精确模型的建立;实现了在急转工况下车辆的最佳稳定性调节,极大降低了侧翻的风险。极大提高了车辆在多变环境下进行急转工况时的操纵稳定性和适应性;提高了车辆转向模式切换时的平顺性;摆脱了对先验故障模型的依赖,实现了对单轮精准而快速的故障定位。


    Access

    Download


    Export, share and cite



    Title :

    Distributed driving vehicle composite steering control method based on reinforcement learning interaction MPC


    Additional title:

    一种基于强化学习交互MPC的分布式驱动车辆复合转向控制方法


    Contributors:
    LIU ZHE (author) / SUN BOHUA (author) / GAO ZHENHAI (author) / LU PINGPING (author) / LI RUIXI (author) / WANG XINYU (author)

    Publication date :

    2025-04-11


    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



    Automatic driving vehicle interaction control method based on reinforcement learning

    MA NAN / ZHANG JIN / LIANG YE et al. | European Patent Office | 2024

    Free access

    Pivot steering driving torque control method for distributed driving vehicle

    WANG WENMO / ZHANG HONGCHAO / WU ZENGBIN et al. | European Patent Office | 2024

    Free access

    Vehicle control method and device based on distributed driving steering, vehicle and medium

    TANG ZHUO / YANG LIUNAN / YU HUILI et al. | European Patent Office | 2024

    Free access

    Vehicle steering control method, driving controller, steering system and vehicle

    XU DALI / MIAO HUI / ZHOU YIQUN | European Patent Office | 2022

    Free access

    Pivot steering control method and device for distributed driving vehicle, vehicle and medium

    LIU YITAO / SUN YUHANG / LI SHUNBO et al. | European Patent Office | 2024

    Free access