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Research on Adaptive Cruise Control Based on Soft Actor-Critic Algorithm
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Kegang Zhao1, Cuiduo Shi1, Zhihao Liang1, Ziqi Li1, Yulong Wang2
Automobile Technology | 2023, (3) : 26 - 34
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Automobile Technology | 2023, (3): 26-34
Research on Adaptive Cruise Control Based on Soft Actor-Critic Algorithm
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Kegang Zhao1, Cuiduo Shi1, Zhihao Liang1, Ziqi Li1, Yulong Wang2
Affiliations
  • 1 South China University of Technology, Guangzhou 510641
  • 2 State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha 410082
Published: 2023-03-24 doi: 10.19620/j.cnki.1000-3703.20220500
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For the problems of adaptive cruise control technology, including insufficient environmental adaptability of control algorithm for Deep Reinforcement Learning (DRL), poor model mitigation and generalization ability, this paper proposed the Soft Actor-Critic (SAC) control algorithm based on the principle of maximum entropy and stochastic off-line policy. SAC network was built to fit action value function and action policy function, and auto-adjusting temperature coefficient was used to improve the environmental exploration ability of intelligent agent. For the problem of sparse reward, the reward function was designed by using the idea of reward shaping. In addition, a new experience replay mechanism was proposed to improve the utilization rate of samples. The proposed control algorithm was simulated and tested in different scenes, and compared with Deep Deterministic Policy Gradient (DDPG). The results show that the algorithm has better model generalization ability and migration effect on real vehicles.

Adaptive cruise control  /  Soft Actor-Critic(SAC)  /  Mitigation  /  Deep Reinforcement Learning(DRL)
Kegang Zhao, Cuiduo Shi, Zhihao Liang, Ziqi Li, Yulong Wang. Research on Adaptive Cruise Control Based on Soft Actor-Critic Algorithm[J]. Automobile Technology, 2023 , (3) : 26 -34 . DOI: 10.19620/j.cnki.1000-3703.20220500
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doi: 10.19620/j.cnki.1000-3703.20220500
  • Online Date：2025-12-07
  • Published：2023-03-24
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  • Revised：2022-07-15
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    1 South China University of Technology, Guangzhou 510641
    2 State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha 410082
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