Improvement of Vehicle Stability Using Reinforcement Learning

  • Janaína R. Amaral UFSC
  • Harald Göllinger Technische Hochschule Ingolstadt
  • Thiago A. Fiorentin UFSC

Resumo


This paper presents a preliminary study on the use of reinforcement learning to control the torque vectoring of a small rear wheel driven electric race car in order to improve vehicle handling and vehicle stability. The reinforcement learning algorithm used is Neural Fitted Q Iteration and the sampling of experiences is based on simulations of the vehicle behavior using the software CarMaker. The cost function is based on the position of the states on the phase-plane of sideslip angle and sideslip angular velocity. The resulting controller is able to improve the vehicle handling and stability with a significant reduction in vehicle sideslip angle.

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Publicado
22/10/2018
AMARAL, Janaína R.; GÖLLINGER, Harald; FIORENTIN, Thiago A.. Improvement of Vehicle Stability Using Reinforcement Learning. In: ENCONTRO NACIONAL DE INTELIGÊNCIA ARTIFICIAL E COMPUTACIONAL (ENIAC), 15. , 2018, São Paulo. Anais [...]. Porto Alegre: Sociedade Brasileira de Computação, 2018 . p. 240-251. ISSN 2763-9061. DOI: https://doi.org/10.5753/eniac.2018.4420.