Humanoid intelligent controlled obstacle avoidance control method based on reinforcement learning

A technology of reinforcement learning and intelligent control, applied in two-dimensional position/channel control, adaptive control, general control system, etc., can solve problems such as high-cost application limitations, falling into local extremes, unsuitability, etc., to achieve good practicality Sex and development potential, the effect of high obstacle avoidance rate
CN109212973AInactive Publication Date: 2019-01-15BEIJING JIAOTONG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
BEIJING JIAOTONG UNIV
Publication Date
2019-01-15
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention relates to a humanoid intelligent controlled obstacle avoidance control method based on reinforcement learning. The method comprises the following steps: S1, judging the distance from anobstacle to the vehicle, and determining the relation between the distance d and the safety distance S when the obstacle appears in the sensing area in front of the vehicle; if d < S, the vehicle cannot realize effective obstacle avoidance and would stop; if d >= S, and a relative speed exists between the vehicle and the obstacle, performing obstacle avoidance; if d >= S, and the relative speed is zero, the vehicle travels on the original route; S2, obstacle avoidance learning of the vehicle: calculating the turning radius and the accelerated speed of the vehicle when performing obstacle avoidance; S3, autonomous obstacle avoidance of the vehicle: after online learning of the vehicle, calling a driving experience to perform an autonomous obstacle avoidance by utilizing a memory function.For roads of various conditions, the obstacle avoidance control method provided by the invention has a relatively high obstacle avoidance rate, a good practicability and a good development potential.
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Description

technical field

[0001] The invention relates to the field of automatic driving, in particular to an obstacle avoidance control method based on human-like intelligent control of reinforcement learning. Background technique

[0002] With the popularization of small smart cars, people have more choices in short-distance travel. At the same time, the application of smart cars in some special occasions has also played an increasingly important role, such as the execution of special tasks such as anti-terrorism and inspections. Therefore, research on assisted obstacle avoidance driving technology for narrow and complex roads is becoming more and more popular. Throughout the research on smart cars at home and abroad, most of them are biased toward unmanned vehicles. Unmanned vehicles have high costs based on multi-sensor technology and application limitations mainly on regular roads, so their core technologies are not fully applicable to small vehicles. smart car.

[0003] In the...

Claims

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