Full-range adaptive cruise control based on supervised adaptive dynamic programming

The paper proposes a supervised adaptive dynamic programming (SADP) algorithm for a full-range adaptive cruise control (ACC) system, which can be formulated as a dynamic programming problem with stochastic demands. The suggested ACC system has been designed to allow the host vehicle to drive both in...

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Bibliographic Details
Published in:Neurocomputing (Amsterdam) 2014-02, Vol.125, p.57-67
Main Authors: Zhao, Dongbin, Hu, Zhaohui, Xia, Zhongpu, Alippi, Cesare, Zhu, Yuanheng, Wang, Ding
Format: Article
Language:English
Subjects:
Adaptive algorithms
Adaptive control systems
Adaptive cruise control
Adaptive dynamic programming
Algorithmics. Computability. Computer arithmetics
Algorithms
Applied sciences
Artificial intelligence
Computer science
control theory
systems
Control theory. Systems
Dynamic programming
Dynamical systems
Dynamics
Exact sciences and technology
Ground, air and sea transportation, marine construction
Learning and adaptive systems
Neural networks
Road transportation and traffic
Robotics
Stop and go
Supervised reinforcement learning
Theoretical computing
Training
Vehicles
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Summary:The paper proposes a supervised adaptive dynamic programming (SADP) algorithm for a full-range adaptive cruise control (ACC) system, which can be formulated as a dynamic programming problem with stochastic demands. The suggested ACC system has been designed to allow the host vehicle to drive both in highways and in Stop and Go (SG) urban scenarios. The ACC system can autonomously drive the host vehicle to a desired speed and/or a given distance from the target vehicle in both operational cases. Traditional adaptive dynamic programming (ADP) is a suitable tool to address the problem but training usually suffers from low convergence rates and hardly achieves an effective controller. A SADP algorithm which introduces the concept of inducing region is here introduced to overcome such training drawbacks. The SADP algorithm performs very well in all simulation scenarios and always better than more traditional controllers. The conclusion is that the proposed SADP algorithm is an effective control methodology able to effectively address the full-range ACC problem.
ISSN:0925-2312
1872-8286
DOI:10.1016/j.neucom.2012.09.034