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首页> 外文期刊>IEEE transactions on systems, man, and cybernetics. Part A >Analyzing the behaviours of a car: a study in abstraction of goal-directed motions
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Analyzing the behaviours of a car: a study in abstraction of goal-directed motions

机译：分析汽车的行为：目标导向运动的抽象研究

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摘要

Driving a car involves simultaneous consideration of events at different spatio-temporal scales. Proper interpretation and planning then leads to behaviour such as the parallel parking manoeuvre, the three-point turn, free Euclidean driving in a desert, following a road, and translationally passing other vehicles at high speed. In the study of autonomous systems, it is desirable to find a representation in which such different behaviours of a single system can be related to each other, and to find precisely how and under what conditions a change of representation and corresponding choice of motions occurs. In this paper, we formulate an abstraction mechanism based on approximations of flows of commutators of vector fields (the paper also contains an explanation of these concepts). We apply it to the goal-directed motion of a car and show how the environmental constraints induce, through this abstraction mechanism, a recognizable hierarchy of descriptions of the car's motion. This suggests that this method of analyzing the behaviour to derive a suitable level of description is conceptually correct, and that its implementation would give the right level of computational representation on which to apply one of the standard path planning algorithms.
机译：驾驶汽车需要同时考虑不同时空尺度的事件。正确的解释和计划会导致这种行为，例如平行停车动作，三点转弯，在沙漠中自由欧几里得驾驶，沿着道路行驶以及高速平移通过其他车辆。在自主系统的研究中，期望找到其中单个系统的这种不同行为可以彼此相关的表示，并且精确地找到表示以及相应的运动选择如何以及在什么条件下发生。在本文中，我们基于矢量场的换向器流的近似值来构造一种抽象机制（本文还包含对这些概念的解释）。我们将其应用于汽车的目标运动，并展示环境约束如何通过这种抽象机制引发对汽车运动的描述的可识别层次结构。这表明，这种分析行为以得出适当描述级别的方法在概念上是正确的，并且其实现将提供适当级别的计算表示，在该级别上可以应用一种标准路径规划算法。

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