The invention relates to an automatic driving vehicle steering and suspension cooperative control method based on reinforcement learning, and the method specifically comprises the following steps: 1, building a dynamic model of a vehicle steering system and a suspension system, and obtaining transverse and vertical vehicle motion states through controlling a steering angle and a suspension acting force; 2, constructing a control action and reward function of a vehicle steering system and a suspension system, and forming a reinforcement learning exploration strategy of vehicle steering and suspension cooperative control; 3, constructing intelligent agents of a steering system and a suspension system; and 4, constructing a reinforcement learning environment, and realizing cooperative control of the steering system and the suspension system through a multi-agent reinforcement learning method. According to the method, different vertical and transverse plane environments and different learning tasks are comprehensively considered, the data input dimension is reduced, the optimal motion control strategies under different working conditions are considered, and on the premise that accurate path tracking is guaranteed, the transverse roll stability and the vertical smoothness and comfort are improved through cooperative steering system and suspension system control.
本发明涉及一种基于强化学习的自动驾驶车辆转向与悬架协同控制方法,具体包括如下步骤:1、建立车辆转向系统与悬架系统的动力学模型,通过控制转向角与悬架作用力获取横向与垂向的车辆运动状态;2、构建车辆转向系统与悬架系统的控制动作与奖励函数,形成车辆转向与悬架协同控制的强化学习探索策略;3、构建转向系统和悬架系统的智能体;4、构建强化学习环境,通过多智能体的强化学习方法实现转向系统和悬架系统的协同控制。本发明综合考虑垂向与横向的不同平面环境与不同学习任务,降低数据输入维度,兼顾了不同工况的最优运动控制策略,在保障准确路径跟踪的前提下,通过协同转向系统与悬架系统控制改善了横向侧倾稳定性及垂向平顺舒适性。
Self-driving vehicle steering and suspension cooperative control method based on reinforcement learning
一种基于强化学习的自动驾驶车辆转向与悬架协同控制方法
2025-05-13
Patent
Electronic Resource
Chinese
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