Hierarchical speed control for autonomous electric vehicle through deep reinforcement learning and robust control
Abstract For the speed control system of autonomous electric vehicle (AEV), challenge happens with how to determine an appropriate driving speed to satisfy the dynamic environment while resisting uncertainty and disturbance. Therefore, this paper proposes a robust optimal speed control approach base...
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Wiley
2022
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oai:doaj.org-article:08baf368ef4c4c5585e22ca80ac8a8362021-12-02T15:00:29ZHierarchical speed control for autonomous electric vehicle through deep reinforcement learning and robust control1751-86521751-864410.1049/cth2.12211https://doaj.org/article/08baf368ef4c4c5585e22ca80ac8a8362022-01-01T00:00:00Zhttps://doi.org/10.1049/cth2.12211https://doaj.org/toc/1751-8644https://doaj.org/toc/1751-8652Abstract For the speed control system of autonomous electric vehicle (AEV), challenge happens with how to determine an appropriate driving speed to satisfy the dynamic environment while resisting uncertainty and disturbance. Therefore, this paper proposes a robust optimal speed control approach based on hierarchical architecture for AEV through combining deep reinforcement learning (DRL) and robust control. In decision‐making layer, a deep maximum entropy proximal policy optimization (DMEPPO) algorithm is presented to obtain an optimal speed via dynamic environment information, heuristic target entropy and adaptive entropy constraint. In motion control layer, to track the learned optimal speed while resisting uncertainty and disturbance, a robust speed controller is designed by the linear matrix inequality (LMI). Finally, simulation experiment results show that the proposed robust optimal speed control scheme based on hierarchical architecture for AEV is feasible and effective.Guangfei XuXiangkun HeMeizhou ChenHequan MiaoHuanxiao PangJian WuPeisong DiaoWenjun WangWileyarticleControl engineering systems. Automatic machinery (General)TJ212-225ENIET Control Theory & Applications, Vol 16, Iss 1, Pp 112-124 (2022) |
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DOAJ |
| collection |
DOAJ |
| language |
EN |
| topic |
Control engineering systems. Automatic machinery (General) TJ212-225 |
| spellingShingle |
Control engineering systems. Automatic machinery (General) TJ212-225 Guangfei Xu Xiangkun He Meizhou Chen Hequan Miao Huanxiao Pang Jian Wu Peisong Diao Wenjun Wang Hierarchical speed control for autonomous electric vehicle through deep reinforcement learning and robust control |
| description |
Abstract For the speed control system of autonomous electric vehicle (AEV), challenge happens with how to determine an appropriate driving speed to satisfy the dynamic environment while resisting uncertainty and disturbance. Therefore, this paper proposes a robust optimal speed control approach based on hierarchical architecture for AEV through combining deep reinforcement learning (DRL) and robust control. In decision‐making layer, a deep maximum entropy proximal policy optimization (DMEPPO) algorithm is presented to obtain an optimal speed via dynamic environment information, heuristic target entropy and adaptive entropy constraint. In motion control layer, to track the learned optimal speed while resisting uncertainty and disturbance, a robust speed controller is designed by the linear matrix inequality (LMI). Finally, simulation experiment results show that the proposed robust optimal speed control scheme based on hierarchical architecture for AEV is feasible and effective. |
| format |
article |
| author |
Guangfei Xu Xiangkun He Meizhou Chen Hequan Miao Huanxiao Pang Jian Wu Peisong Diao Wenjun Wang |
| author_facet |
Guangfei Xu Xiangkun He Meizhou Chen Hequan Miao Huanxiao Pang Jian Wu Peisong Diao Wenjun Wang |
| author_sort |
Guangfei Xu |
| title |
Hierarchical speed control for autonomous electric vehicle through deep reinforcement learning and robust control |
| title_short |
Hierarchical speed control for autonomous electric vehicle through deep reinforcement learning and robust control |
| title_full |
Hierarchical speed control for autonomous electric vehicle through deep reinforcement learning and robust control |
| title_fullStr |
Hierarchical speed control for autonomous electric vehicle through deep reinforcement learning and robust control |
| title_full_unstemmed |
Hierarchical speed control for autonomous electric vehicle through deep reinforcement learning and robust control |
| title_sort |
hierarchical speed control for autonomous electric vehicle through deep reinforcement learning and robust control |
| publisher |
Wiley |
| publishDate |
2022 |
| url |
https://doaj.org/article/08baf368ef4c4c5585e22ca80ac8a836 |
| work_keys_str_mv |
AT guangfeixu hierarchicalspeedcontrolforautonomouselectricvehiclethroughdeepreinforcementlearningandrobustcontrol AT xiangkunhe hierarchicalspeedcontrolforautonomouselectricvehiclethroughdeepreinforcementlearningandrobustcontrol AT meizhouchen hierarchicalspeedcontrolforautonomouselectricvehiclethroughdeepreinforcementlearningandrobustcontrol AT hequanmiao hierarchicalspeedcontrolforautonomouselectricvehiclethroughdeepreinforcementlearningandrobustcontrol AT huanxiaopang hierarchicalspeedcontrolforautonomouselectricvehiclethroughdeepreinforcementlearningandrobustcontrol AT jianwu hierarchicalspeedcontrolforautonomouselectricvehiclethroughdeepreinforcementlearningandrobustcontrol AT peisongdiao hierarchicalspeedcontrolforautonomouselectricvehiclethroughdeepreinforcementlearningandrobustcontrol AT wenjunwang hierarchicalspeedcontrolforautonomouselectricvehiclethroughdeepreinforcementlearningandrobustcontrol |
| _version_ |
1718389119713804288 |