Knowledge and data fusion driven cloud-controlled connected vehicle cooperative cruise control method

Abstract

The application discloses a knowledge and data fusion driven cloud control type network connected vehicle cooperative cruise control method, and belongs to the field of automobile intelligent safety and automatic driving. A cloud control type vehicle cooperative cruise control strategy is provided, and a strategy learning process comprises the following steps: 1) a model guided method for realizing multi-agent cooperative control is realized based on model prediction control (MPC), a safety distance is added to avoid collision, and demonstration data for training a strategy network is generated, and the strategy network is pre-trained by using imitation learning; and 2) on the basis of the imitation learning, the strategy is improved by using reinforcement learning, a reinforcement learning model and a heuristic reward function are designed according to the idea of knowledge guided learning, traffic road information is fused in the reward function, a collision avoidance strategy is added to the model, and the training of the reinforcement model is accelerated to improve the learning efficiency, so that a completely distributed controller is obtained, and the cloud control type vehicle cooperative cruise control is realized. The strategy considers vertical comfort degree of rough road, and can obviously improve problems such as traffic congestion, passenger comfort degree and safety hidden danger.

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