Vehicle distributed steering driving system control method based on reinforcement learning

Abstract

The invention discloses a vehicle distributed steering driving system control method based on reinforcement learning. The method comprises the steps of obtaining current state data of a vehicle; estimating the current side slip angle of the vehicle by adopting an unscented Kalman filter algorithm; solving an ideal side slip angle and an ideal yaw velocity; calculating to obtain a deviation value between the ideal side slip angle and the current side slip angle and a deviation value between the ideal yaw velocity and the current yaw velocity; calculating to obtain ideal lateral force and yawingmoment; learning a steering angle and torque distribution strategy by using a reinforcement learning method, and outputting four-wheel independent steering angle and torque; and executing the generated distribution strategy, and returning a reward value which is used for evaluating the quality of the executed action. According to the method, autonomous learning and improvement of four-wheel independent steering angle and drive distribution are achieved, the operation stability and tire durability of the automobile are comprehensively considered, and limitation of a traditional control methodis avoided.

Description

technical field [0001] The invention belongs to the technical field of automobile distributed steering-by-wire steering drive, and specifically refers to a method for controlling a vehicle distributed steering drive system based on reinforcement learning. Background technique [0002] The steering system of a car is one of the most important systems that affect the handling stability of a car. The traditional steering system uses mechanical connections with a fixed transmission ratio, which is not conducive to the driving stability of the car. The steer-by-wire system cancels the mechanical connection between the steering wheel and the steering gear, and uses electric transmission to transmit the driver's steering command and drive the steering motor to rotate to complete the front wheel steering function. At the same time, as people pay more and more attention to the active safety of automobiles, the steering stability of automobiles under extreme conditions has become a ho...

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Problems solved by technology

[0004] Aiming at the deficiencies of the above-mentioned prior art, the purpose of the present invention is to provide a vehicle distributed steering drive system control method based on reinforcement learning to solve the problem that the relationship between four-wheel independent rotation angles and torques cannot be taken into account in the prior art. The problem of tire adhesion cannot be fully utilized; the method of the present invention realizes independent learning and improvement of four-wheel independent corners and drive distribution, comprehensively considers the handling stability of the car and tire durability, and avoids the limitations of traditional control methods

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