公开(公告)号：US20250128720A1

公开(公告)日：2025-04-24

申请号：US18845007

申请日：2023-08-23

Applicant: JIANGSU UNIVERSITY

Inventor： Yingfeng CAI ,  Sikai LU ,  Hai WANG ,  Yubo LIAN ,  Long CHEN ,  Qingchao LIU

IPC: B60W50/08 ,  B60W60/00 ,  G05B13/02 ,  G06N3/092 ,  G06N3/098

Abstract: The provided are a federated reinforcement learning (FRL) end-to-end autonomous driving control system and method, as well as vehicular equipment, based on complex network cognition. An FRL algorithm framework is provided, designated as FLDPPO, for dense urban traffic. This framework combines rule-based complex network cognition with end-to-end FRL through the design of a loss function. FLDPPO employs a dynamic driving guidance system to assist agents in learning rules, thereby enabling them to navigate complex urban driving environments and dense traffic scenarios. Moreover, the provided framework utilizes a multi-agent FRL architecture, whereby models are trained through parameter aggregation to safeguard vehicle-side privacy, accelerate network convergence, reduce communication consumption, and achieve a balance between sampling efficiency and high robustness of the model.

公开(公告)号：US20240038066A1

公开(公告)日：2024-02-01

申请号：US18026835

申请日：2022-08-04

Applicant: JIANGSU UNIVERSITY

Inventor： Yingfeng CAI ,  Sikai LU ,  Long CHEN ,  Hai WANG ,  Chaochun YUAN ,  Qingchao LIU ,  Yicheng LI

IPC: G08G1/08

CPC classification number: G08G1/08

Abstract: A multi-intelligence federated reinforcement learning (FRL)-based vehicle-road cooperative control system and method at the complex intersection use a vehicle-road cooperative control framework based on the Road Side Unit (RSU) static processing module and the vehicle-based dynamic processing module. The historical road information is supplied by the proposed RSU module. The Federated Twin Delayed Deep Deterministic policy gradient (FTD3) algorithm is proposed to connect the federated learning (FL) module and the reinforcement learning (RL) module. The FTD3 algorithm transmits only neural network parameters instead of vehicle samples to protect privacy. Firstly, FTD3 selects only specific networks for aggregation to reduce the communication cost. Secondly, FTD3 realizes the deep combination of FL and RL by aggregating target critic networks with smaller Q-values. Thirdly, RSU neural network participates in aggregation rather than training, and only shared global model parameters are used.