The invention discloses a deep
reinforcement learning actor-evaluator
network structure based on double-flow information
bottleneck and a
path tracking control method for a four-wheel independent steering and independent driving vehicle, and the method comprises the steps: adding a known information
bottleneck module in a Critic network before the
estimation of a Q value, extracting known information from the known information
bottleneck module, and carrying out the
estimation of a Q value; designing a training target to minimize a
time difference error and minimize
mutual information, and constraining a parameter norm; in the Actor network, an unknown information bottleneck module is added in front of a strategy generation module, unknown
class information is extracted from the unknown information bottleneck module, and a training target is designed to maximize expected accumulated rewards, maximize
mutual information and minimize
conditional entropy; in the training process, states and actions in samples are input into a Critic network and a
mutual information estimator network, Q value
estimation and mutual information estimation are obtained, and Critic network parameters are updated through a minimization objective function; actor network parameters are updated through a strategy gradient theorem and importance sampling so as to maximize an objective function; meanwhile, a mutual information estimator network is independently trained, and maximum estimation of mutual information is achieved through sampling and optimization; in order to realize dynamic adjustment, a weight scheduler is set, coefficients in an Actor objective function and a Critic objective function are dynamically adjusted according to the current training round number and the average return, and a linear attenuation strategy is used for adjustment.