Automatic driving longitudinal decision control method in vehicle-road cooperation environment

Abstract

The invention relates to an automatic driving longitudinal decision control method in a vehicle-road cooperation environment, and the method comprises the steps: classifying the elevation data of an original road surface according to different road surface grades, and carrying out the analysis to obtain the annoyance rate of driving on different grades of road surfaces at different vehicle speeds; on the basis of a dynamic planning method, in combination with vehicle speed planning key nodes and annoyance rate data in a road, according to safe, comfortable and efficient driving requirements, determining the automatic driving vehicle speed of each node; and defining key elements corresponding to real automatic driving in the reinforcement learning model, constructing a model training environment by referring to actual road conditions, establishing an automatic driving real-time longitudinal acceleration and vertical damping force control model based on a DDPG structure, and outputting longitudinal acceleration and vertical damping force of an automatic driving vehicle in real time, so as to control the driving state of the autonomous vehicle. Compared with the prior art, the problems that the driving comfort is reduced and the road passing efficiency is reduced due to an uneven road surface can be effectively solved.

Description

technical field [0001] The invention relates to the technical field of automatic driving decision-making control, in particular to a longitudinal decision-making control method for automatic driving in a vehicle-road collaborative environment. Background technique [0002] In recent years, with the continuous advancement of highway and urban road construction in our country, the mileage of roads put into operation and use has increased year by year. However, as far as the current road usage is concerned, the uneven road surface causes reduced driving comfort, reduced road traffic efficiency, and frequent traffic accidents. , the existing technology has carried out extensive research on the speed decision-making control of intelligent driving. The speed decision-making control is mainly based on the holographic perception of road infrastructure and real-time communication between vehicles and roads. A method for improving ride comfort of a driving vehicle. [0003] At prese...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a longitudinal decision-making control method for automatic driving in a vehicle-road collaborative environment in order to overcome the above-mentioned defects in the prior art, so as to realize real-time decision-making and control of the longitudinal acceleration of the vehicle driving and the damping force of the vertical shock absorber , so as to solve the problems of reduced driving comfort and reduced road traffic efficiency caused by uneven road surfaces

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