Model-free Optimal Control based Intelligent Cruise Control with Hardware-in-the-loop Demonstration
Zhao, Dongbin1,2,3; Xia, Zhongpu4; Zhang, Qichao1,2
2017-05-01
发表期刊IEEE COMPUTATIONAL INTELLIGENCE MAGAZINE
卷号12期号:2页码:56-69
文章类型Article
摘要It is difficult to implement optimal control for a system whose model is unknown and operation environment is uncertain, such as the intelligent cruise control of vehicles. This article will address the problem from the perspective of reinforcement learning by learning the optimal policy from the state transition data. The model-free optimal control algorithm is employed to approximate the optimal control policy for the intelligent cruise control system, which considers the comfort performance and the safety performance comprehensively by setting up a total performance index. The algorithm is implemented by two multi-layer neural networks which are the critic network and the actor network. The critic and actor networks are employed to approximate the state-action value function and the control action, respectively. In addition, a data collecting strategy is proposed to obtain the state transition data distributed uniformly in the state action space from the running trajectory of the host car. The critic network and the action network are trained alternatively by the collected data until converging. The convergent action network is used to obtain the optimal control policy. At last, the policy is tested on a hardware-in-the-loop simulator built upon dSPACE by comparing with a linear quadratic regulator (LQR) controller and a proportion integration differentiation (PID) controller. Results show its excellent performance on both aspects of the safety and the comfort.
关键词Intelligent Cruise Control
WOS标题词Science & Technology ; Technology
DOI10.1109/MCI.2017.2670463
关键词[WOS]LONGITUDINAL CONTROL ; POLICY ITERATION ; CONTROL DESIGN ; AVOIDANCE ; VEHICLES ; SYSTEM
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China (NSFC)(61573353 ; National Key Research and Development Plan(2016YFB0101000) ; 61533017)
WOS研究方向Computer Science
WOS类目Computer Science, Artificial Intelligence
WOS记录号WOS:000399714900005
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/14337
专题复杂系统管理与控制国家重点实验室_深度强化学习
通讯作者Zhang, Qichao
作者单位1.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China
2.Univ Chinese Acad Sci, Beijing, Peoples R China
3.Jiangsu Huimin Traff Facil Co Ltd, Huaian, Jiangsu, Peoples R China
4.Baidu Com Times Technol Co Ltd, Beijing, Peoples R China
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Zhao, Dongbin,Xia, Zhongpu,Zhang, Qichao. Model-free Optimal Control based Intelligent Cruise Control with Hardware-in-the-loop Demonstration[J]. IEEE COMPUTATIONAL INTELLIGENCE MAGAZINE,2017,12(2):56-69.
APA Zhao, Dongbin,Xia, Zhongpu,&Zhang, Qichao.(2017).Model-free Optimal Control based Intelligent Cruise Control with Hardware-in-the-loop Demonstration.IEEE COMPUTATIONAL INTELLIGENCE MAGAZINE,12(2),56-69.
MLA Zhao, Dongbin,et al."Model-free Optimal Control based Intelligent Cruise Control with Hardware-in-the-loop Demonstration".IEEE COMPUTATIONAL INTELLIGENCE MAGAZINE 12.2(2017):56-69.
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