Method and system for cooperative control of vehicles at intersection without signal lamp

Abstract

The invention relates to a traffic light-free intersection vehicle cooperative control method and system. The method comprises the following steps: modeling a traffic light-free intersection cooperative control problem into a distributed partially observable Markov decision process; building an intersection scene model; acquiring state information, action information and ID information of the vehicle; constructing a neural network model; the neural network model comprises an action value neural network and a hybrid neural network; inputting the state information, the action information and the ID information of the vehicle into the action value neural network to obtain an evaluation value of the action value of each vehicle in the current state; based on the evaluation value of the action value of each vehicle in the current state, adopting an action selection mechanism to determine action information of each vehicle; and inputting the global state information of the environment and the action information of each vehicle into the hybrid neural network to obtain an approximate shared reward value. According to the method, the calculation complexity can be reduced.

Description

technical field [0001] The invention relates to the field of artificial intelligence, in particular to a vehicle cooperative control method and system at an intersection without signal lights. Background technique [0002] Whether the urban intersection can be effectively controlled plays a vital role in whether the traffic system is congested and whether there are safety accidents. The deepening of urbanization has greatly increased the population of the city and the number of vehicles in the city, which inevitably causes traffic congestion, which in turn reduces social production efficiency, brings environmental pollution, increases the probability of traffic accidents, and affects the appearance of the city. appearance. Setting traffic lights at intersections is one of the methods to effectively alleviate the above problems in general. In order to make traffic flow effective and safe, academia has done a lot of exploration on optimizing the time and phase of traffic ligh...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a method and system for cooperative control of vehicles at intersections without signal lights, aiming to solve the problem of high computational complexity in non-intelligent algorithms, the curse of dimensionality and credit allocation problems in multi-agent reinforcement learning centralized algorithms

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