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首页> 外文期刊>Intelligent Transport Systems, IET >Iterative learning of an unknown road path through cooperative driving of vehicles
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Iterative learning of an unknown road path through cooperative driving of vehicles

机译：通过车辆的合作驾驶迭代学习一条不知名的道路路径

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摘要

This study proposes a method for a vehicle controller to learn human driving behaviours through iterative interactions. In particular, the vehicle controller and the human driver jointly control a vehicle along a path only known to the human driver. Through repeated cooperative driving, the vehicle controller estimates the hidden desired path of the driver by minimising the control input. Eventually, semi-autonomous driving is realised since the vehicle controller is able to automatically track the target path and release the human driver from the driving task. The iterative learning of the human target path on the basis of the proposed algorithm is in the spatial domain, and is effective in the presence of uncertain human driving speeds. The validity of the proposed method is proved by rigorous analysis and demonstrated by numerical simulations.
机译：本研究提出了一种通过迭代相互作用来学习人类驾驶行为的方法。特别地，车辆控制器和人司机沿着人驾驶员已知的路径共同控制车辆。通过重复的协作驾驶，车辆控制器通过最小化控制输入来估计驾驶员的隐藏期望的路径。最终，由于车辆控制器能够自动跟踪目标路径并从驾驶任务释放人驾驶员，因此实现了半自动驱动。基于所提出的算法的人目标路径的迭代学习在空间域中，并且在存在不确定的人类驾驶速度的情况下是有效的。通过严格的分析证明了所提出的方法的有效性，并通过数值模拟证明。

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