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Research on vehicle lateral stability control under low-adhesion road conditions using proximal policy optimization

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This study introduces an intelligent stability control algorithm using Proximal Policy Optimization (PPO) for safer emergency braking. The PPO algorithm enhances vehicle control on slippery and uneven roads, improving safety during hazardous driving conditions.

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Area of Science:

  • Intelligent Transportation Systems
  • Control Engineering
  • Machine Learning

Background:

  • Vehicle lateral stability is critical for active safety, especially during emergency braking on low or non-uniform adhesion surfaces.
  • Existing control methods struggle to maintain stability under such hazardous conditions.

Purpose of the Study:

  • To propose an intelligent integrated longitudinal and lateral stability control algorithm for emergency braking.
  • To enhance vehicle stability on challenging road surfaces using the Proximal Policy Optimization (PPO) algorithm.

Main Methods:

  • Developed high-fidelity electromechanical braking (EMB) and steer-by-wire (SBW) system models in Amesim and a full-vehicle dynamics model in CarSim.
  • Designed a continuous state and action space for reinforcement learning, incorporating vehicle states and road parameters.
  • Utilized an Amesim-CarSim-Python co-simulation platform for training the PPO algorithm under various emergency braking scenarios.

Main Results:

  • The PPO algorithm demonstrated superior performance compared to Model Predictive Control (MPC) and Sliding Mode Control (SMC).
  • Achieved 15-20% reduction in braking distance on low-adhesion roads and 25-30% decrease in lateral deviation on split-μ roads.
  • Suppressed yaw rate oscillation by 28.8% on curved roads, with Hardware-in-the-loop (HIL) validation confirming robustness.

Conclusions:

  • The proposed PPO-based intelligent control algorithm effectively maintains vehicle lateral stability during emergency braking on challenging road surfaces.
  • The algorithm offers significant improvements in braking distance, lateral deviation, and yaw rate control, enhancing overall vehicle safety.