面向跨海大桥的自动驾驶车辆侧倾控制  

Roll control of autonomous vehicle based on sea-crossing bridge

作　　者：唐晓峰 李若旭 曹钊 TANG Xiaofeng;LI Ruoxu;CAO Zhao(School of Mechanical Engineering,Yangzhou University,Yangzhou,Jiangsu 225127,China)

机构地区：[1]扬州大学机械工程学院,江苏扬州225127

出　　处：《江苏大学学报(自然科学版)》2025年第2期132-139,148,共9页Journal of Jiangsu University:Natural Science Edition

基　　金：扬州大学科研启动费(引进人才)资助项目(137011947)。

摘　　要：针对跨海大桥道路环境的不确定性导致自动驾驶车辆容易发生车辆动力学状态变化的问题,提出了基于深度确定性策略梯度(DDPG)算法的车辆侧倾控制策略,探索了该策略在不同车速下的泛化能力.首先构建了跨海大桥的垂向模型,以提供动态道路环境;其次构建了车辆动力学模型和车辆跟踪误差模型,融合了车辆的侧倾、侧滑和横摆的动力学特性,并构建了侧倾稳定性判据;最后设计了深度确定性策略梯度算法中的状态空间和动作空间,并根据车辆的侧倾状态设计了奖励函数.数值模拟结果表明深度确定性策略梯度算法在每一回合中都会获得良好的性能,具有良好的学习能力和解决不确定性复杂环境问题的能力,确保了车辆侧倾角和横向距离误差在可接受的微小波动范围内,满足车辆控制的安全性.To solve the problem of vehicle dynamics state variations in autonomous vehicles due to the uncertainty of road conditions on sea-crossing bridges,the vehicle roll control strategy was proposed based on the deep deterministic policy gradient(DDPG) algorithm,and the generalization capability under different speeds was discussed.The vertical model of the sea-crossing bridge was constructed to provide dynamic road environment.The vehicle dynamics and vehicle tracking error models were established for incorporating the dynamic characteristics of vehicle roll,sideslip and yaw and for establishing the criteria for roll stability.The state space and action space for the DDPG algorithm were designed,and the reward function was formulated based on the vehicle roll state.The numerical simulation results show that by the DDPG algorithm,good performance is achieved in each episode with robust learning and problem-solving capabilities in complex and uncertain environments.The vehicle roll angle and lateral distance error are ensured within acceptable and minor fluctuation ranges to achieve safe vehicle control.

关 键 词：自动驾驶车辆 跨海大桥 侧倾控制 深度确定性策略梯度算法 奖励函数 状态空间 车辆跟踪误差 侧倾稳定性 

分 类 号：TP181[自动化与计算机技术—控制理论与控制工程]