Target following and dynamic obstacle avoidance control method for differential slip steered vehicles

A dynamic obstacle and skid steering technology, applied in vehicle position/route/height control, non-electric variable control, two-dimensional position/course control, etc., can solve the problem of discounting training effects and little room for improvement in control accuracy , unable to effectively solve problems and other problems

CN110989576BActive Publication Date: 2022-07-12BEIJING INSTITUTE OF TECHNOLOGYGY
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2022-07-12

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Abstract

The invention belongs to the technical field of unmanned driving, and discloses a target following and dynamic obstacle avoidance control method for a speed difference slip steering vehicle. The deep deterministic strategy in reinforcement learning is used to establish four neural networks; The cost range determines the single-step reward function of the action; the continuous action output is determined by the actor-critic strategy, and the network parameters are continuously updated by gradient transfer; the network model for following and avoiding obstacles is trained according to the current state. The invention improves the intelligence of vehicle following and obstacle avoidance, and can better adapt to unknown environments and cope with other emergencies well. The complexity of establishing a simulation environment during reinforcement learning training is reduced. Using the neural network prediction model trained in advance, the position and posture of the target vehicle and the obstacle at each step can be obtained from the initial position and posture of the target and the obstacle and the action value of each step, which improves the accuracy and efficiency of the simulation.
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Description

technical field

[0001] The invention belongs to the technical field of unmanned driving, and in particular relates to a target following and dynamic obstacle avoidance control method of a speed difference slip steering vehicle. Background technique

[0002] At present, the closest existing technology: the traditional method mainly adopts path planning and path tracking control methods when performing target following and obstacle avoidance. That is, a path is first planned from the current target state and obstacle information, and then the trajectory tracking control method is used to control the vehicle to travel along the planned path, and at the same time, the local path planning method is used to avoid obstacles. The trajectory tracking is usually in constant speed mode, which adopts a combination of path planning and trajectory tracking. Due to the complexity of the control of the speed difference slip steering vehicle, the controlled vehicle cannot be adjusted in real...

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Embodiment Construction

[0110] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

[0111] In view of the problems existing in the prior art, the present invention provides a target following and dynamic obstacle avoidance control method for a differential slip steered vehicle. The present invention is described in detail below with reference to the accompanying drawings.

[0112] like figure 1 As shown, the target following and dynamic obstacle avoidance control method of the differential slip steered vehicle provided by the embodiment of the present invention includes the following steps:

[0113] S101: Build four neural networks using deep deterministic strategies in reinforcement learning;

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