Distributed Drive Autonomous Vehicle Trajectory Tracking Control Based on Multi-Agent Deep Reinforcement Learning

Author:

Liu Yalei1,Ding Weiping1,Yang Mingliang1,Zhu Honglin1ORCID,Liu Liyuan1,Jin Tianshi1ORCID

Affiliation:

1. School of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, China

Abstract

In order to enhance the trajectory tracking accuracy of distributed-driven intelligent vehicles, this paper formulates the tasks of torque output control for longitudinal dynamics and steering angle output control for lateral dynamics as Markov decision processes. To dissect the requirements of action output continuity for longitudinal and lateral control, this paper adopts the deep deterministic policy gradient algorithm (DDPG) for longitudinal velocity control and the deep Q-network algorithm (DQN) for lateral motion control. Multi-agent reinforcement learning methods are applied to the task of trajectory tracking in distributed-driven vehicle autonomous driving. By contrasting with two classical trajectory tracking control methods, the proposed approach in this paper is validated to exhibit superior trajectory tracking performance, ensuring that both longitudinal velocity deviation and lateral position deviation of the vehicle remain at lower levels. Compared with classical control methods, the maximum lateral position deviation is improved by up to 90.5% and the maximum longitudinal velocity deviation is improved by up to 97%. Furthermore, it demonstrates excellent generalization and high computational efficiency, and the running time can be reduced by up to 93.7%.

Funder

Natural Science Foundation of Sichuan Province

Southwest Jiaotong University New Interdisciplinary Cultivation Fund

Publisher

MDPI AG

Cited by 2 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3