Patent ID: 11862016
Assignee: JIANGSU UNIVERSITY
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 2:
3. The vehicle-road cooperative control method based on multi-intelligence FRL at a complex intersection according to claim 1, wherein in step 3, a neural network model structure used by an actor network in the RL module of the FTD3 algorithm is composed of 1 convolutional layer and 4 fully connected layers, except for the last layer of the network uses a tanh activation function to map an output to a [−1, 1] interval, the other layers use a relu activation function, a critic network also uses 1 convolutional layer and 4 fully connected layers, except for the last layer, the network does not use an activation function to output a Q-value directly for evaluation, and the other layers use the relu activation function.