Year: 2024
Type: article
Abstract: In vertical vehicle dynamics control, semi-active dampers are used to enhance ride comfort and road-holding with only minor additional energy expenses. However, a complex control problem arises from the combined effects of (1) the constrained semi-active damper characteristic, (2) the opposing control objectives of improving ride comfort and road-holding, and (3) the additionally coupled vertical dynamic system. This work presents the application of Reinforcement Learning to the vertical dynamics control problem of a real street vehicle to address these issues. We discuss the entire Reinforcement Learning-based controller design process, which started with deriving a sufficiently accurate training model representing the vehicle behavior. The obtained model was then used to train a Reinforcement Learning agent, which offered improved vehicle ride qualities. After that, we verified the trained agent in a full-vehicle simulation setup before the agent was deployed in the real vehicle. Quantitative and qualitative real-world tests highlight the increased performance of the trained agent in comparison to a benchmark controller. Tests on a real-world four-post test rig showed that the trained RL-based controller was able to outperform an offline-optimized benchmark controller on road-like excitations, improving the comfort criterion by about 2.5% and the road-holding criterion by about 2.0% on average.
Source: Applied Sciences
DOI: 10.3390/app14167066
Authors: Johannes Ultsch, Andreas Pfeiffer, Julian Ruggaber, Tobias Kamp, Jonathan Brembeck, Jakub Tobolář
Language: English
Subfield: Civil and Structural Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,728
Award: G1837491772
OpenAlex ID: W4401535376