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Adaptive Cruise Control Method Based on Approximate Policy Iteration

A technology of adaptive cruising and control methods, applied in special data processing applications, instruments, electrical digital data processing, etc.

Active Publication Date: 2016-03-09
NAT UNIV OF DEFENSE TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Although the PID with fixed parameters cannot obtain satisfactory control results, it has very good performance when maintaining a certain fixed speed

Method used

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  • Adaptive Cruise Control Method Based on Approximate Policy Iteration
  • Adaptive Cruise Control Method Based on Approximate Policy Iteration
  • Adaptive Cruise Control Method Based on Approximate Policy Iteration

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Embodiment Construction

[0054] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific examples.

[0055] The adaptive cruise control method based on the approximate strategy iteration of the present invention adopts an off-line approximate strategy iterative learning algorithm, and the entire optimization algorithm is divided into three stages: firstly, collecting samples; secondly, using the approximate strategy iterative algorithm to learn on the samples, and obtaining An approximate optimal strategy; finally optimize the PI controller parameters online in the cruise control, that is, use the approximate optimal strategy to optimize the parameters of the PI controller online in a data-driven manner, so that the cruise control can achieve the desired performance. In a specific example, the specific process is as follows:

[0056] (1) Sample collection;

[0057] A sample is organized as follows:

[0058] (s,a,r,s')

[0059] The ab...

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Abstract

The invention discloses an adaptive cruise control method based on approximate policy iteration. The adaptive cruise control method comprises the steps of (1), collecting samples; (2), learning on the samples by using an approximate policy iteration algorithm to obtain an approximately optimal policy; (3), optimizing PI controller parameters online in the cruise control, namely, optimizing the PI controller parameters online in a data driving mode by using the approximately optimal policy, so that the cruise control can achieve expected performances. The adaptive cruise control method has the advantages that the principle is simple, online optimization can be achieved, control performances can be improved, and the like.

Description

technical field [0001] The present invention mainly relates to the field of intelligent control methods for accelerator and brake of automobiles, and in particular refers to an adaptive cruise control method based on approximate strategy iteration, which makes the moving speed of vehicles approach the desired speed with high precision, and is especially suitable for adaptive cruise control of automobiles control. Background technique [0002] At present, the existing methods that can be used for vehicle speed control include dynamic model-based PID control, sliding mode control, fuzzy logic and fuzzy-neural network control methods and so on. [0003] Among them, both PID control and sliding mode control based on dynamic model need the longitudinal dynamic model of the vehicle, and the more accurate the model, the better the control effect of the controller. However, due to the complexity and strong nonlinearity of the longitudinal dynamics, it is difficult to obtain a compl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/14G06F19/00
Inventor 徐昕王健孙振平安向京郭琦
Owner NAT UNIV OF DEFENSE TECH
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