The invention discloses a multi-agent-based vehicle control method and system for a multi-lane ramp confluence area. The vehicle control method comprises the following steps: constructing a simulation system of the multi-lane mixed traffic flow ramp confluence area; the simulation system based on the multi-lane mixed traffic flow ramp confluence area obtains the motion state of the intelligent agent; based on a multi-agent depth deterministic strategy gradient MADDPG algorithm, adjusting the motion state of the agents in the mixed traffic ramp confluence area; the method comprises the following steps of: constructing a multi-agent depth strategic gradient BQ-MADDPG algorithm based on a secondary neuron on the basis of an Actor network of the secondary neuron; in a multi-agent deep strategic gradient BQ-MADDPG algorithm based on secondary neurons, the motion state of an agent in a multi-lane ramp confluence area is adjusted until the agent completely drives away from the multi-lane ramp confluence area, and the method is used for solving the problems that an existing multi-agent deep reinforcement learning MADRL algorithm is difficult to reach a stable state in training, so that model convergence is difficult, and the efficiency is high. The problem of vehicle confluence decision control in a multi-lane ramp confluence area scene under mixed traffic cannot be efficiently solved.
本发明基于多智能体的多车道匝道合流区车辆控制方法及系统,该车辆控制方法包括:构建多车道混合交通流匝道合流区的仿真系统;基于多车道混合交通流匝道合流区的仿真系统获取智能体运动状态;基于多智能体深度确定性策略梯度MADDPG算法,调整智能体在混合交通匝道合流区运动状态;基于二次神经元的Actor网络,构建基于二次神经元的多智能体深度策略性梯度BQ‑MADDPG算法;基于二次神经元的多智能体深度策略性梯度BQ‑MADDPG算法中,调整智能体在多车道匝道合流区运动状态,直至智能体完全驶离多车道匝道合流区,用以解决现有多智能体深度强化学习MADRL算法在训练中难以达到稳定状态导致模型收敛困难,无法高效解决混合交通下多车道匝道合流区场景的车辆汇入决策控制问题。
Multi-agent-based multi-lane ramp confluence area vehicle control method and system
基于多智能体的多车道匝道合流区车辆控制方法及系统
2025-05-13
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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