A proposal for adaptive cruise control balancing followability and comfortability through reinforcement learning

نویسندگان

چکیده

Abstract Adaptive cruise control (ACC), which is an extension of conventional control, has been applied in many commercial vehicles. Traditional ACC controlled by proportional-integral-derivative or linear quadratic regulation (LQR), can provide sufficient performance to follow a preceding vehicle. However, they also cause excessive acceleration and jerk. To avoid these behaviors, we propose reinforcement learning (RL), consider various objectives determine inputs, as controller. balance the following vehicle reducing jerk, RL rewards are designed using unique thresholds. Additionally, robustness zero-order delay (dead time) system, dead time considered scattering it randomly phase. As result this study, agent trained proposed method two LQR units specialized for followability comfortability were simulated Simulink® (MATLAB®).

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ژورنال

عنوان ژورنال: ROBOMECH Journal

سال: 2022

ISSN: ['2197-4225']

DOI: https://doi.org/10.1186/s40648-022-00235-7