Longitudinal Hierarchical Control of Autonomous Vehicle Based on Deep Reinforcement Learning and PID Algorithm

• Published in: Journal of advanced transportation Vol. 2024; no. 1
• Main Authors: Ma, Jialu, Zhang, Pingping, Li, Yixian, Gao, Yuhang, Zhao, Jiandong
• Format: Journal Article
• Language: English
• Published: London John Wiley & Sons, Inc 01.11.2024; Wiley
• Subjects: Acceleration; Accuracy; Algorithms; Braking; Control algorithms; Control methods; Control systems; Control theory; Controllers; Deep learning; Design; Driverless cars; Driving ability; Longitudinal control; Machine learning; Mathematical models; Methods; Neural networks; Proportional integral derivative; Safety management; Simulation; Traffic accidents & safety; Traffic speed; Vehicles
• ISSN: 0197-6729; 2042-3195
• DOI: 10.1155/2024/2179275

Longitudinal control of autonomous vehicles (AVs) has long been a prominent subject and challenge. A hierarchical longitudinal control system that integrates deep deterministic policy gradient (DDPG) and proportional–integral–derivative (PID) control algorithms was proposed in this paper to ensure s...