A self-learning human-machine cooperative control method based on driver intention recognition

IF 8.4 2区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE
Yan Jiang, Yuyan Ding, Xinglong Zhang, Xin Xu, Junwen Huang
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引用次数: 0

Abstract

Human-machine cooperative control has become an important area of intelligent driving, where driver intention recognition and dynamic control authority allocation are key factors for improving the performance of cooperative decision-making and control. In this paper, an online learning method is proposed for human-machine cooperative control, which introduces a priority control parameter in the reward function to achieve optimal allocation of control authority under different driver intentions and driving safety conditions. Firstly, a two-layer LSTM-based sequence prediction algorithm is proposed to recognise the driver's lane change (LC) intention for human-machine cooperative steering control. Secondly, an online reinforcement learning method is developed for optimising the steering authority to reduce driver workload and improve driving safety. The driver-in-the-loop simulation results show that our method can accurately predict the driver's LC intention in cooperative driving and effectively compensate for the driver's non-optimal driving actions. The experimental results on a real intelligent vehicle further demonstrate the online optimisation capability of the proposed RL-based control authority allocation algorithm and its effectiveness in improving driving safety.

Abstract Image

基于驾驶员意图识别的自学习人机协同控制方法
人机协同控制已成为智能驾驶的重要领域,其中驾驶员意图识别和动态控制权限分配是提高协同决策和控制性能的关键因素。本文提出了一种人机协同控制的在线学习方法,在奖励函数中引入优先控制参数,实现不同驾驶员意图和驾驶安全条件下控制权的优化分配。首先,提出了一种基于双层 LSTM 的序列预测算法,用于识别驾驶员的变道(LC)意图,实现人机协同转向控制。其次,开发了一种在线强化学习方法来优化转向权限,以减少驾驶员的工作量并提高驾驶安全性。驾驶员在环仿真结果表明,我们的方法可以准确预测合作驾驶中驾驶员的 LC 意图,并有效补偿驾驶员的非最佳驾驶行为。在真实智能车辆上的实验结果进一步证明了所提出的基于 RL 的控制权分配算法的在线优化能力及其在提高驾驶安全性方面的有效性。
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来源期刊
CAAI Transactions on Intelligence Technology
CAAI Transactions on Intelligence Technology COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE-
CiteScore
11.00
自引率
3.90%
发文量
134
审稿时长
35 weeks
期刊介绍: CAAI Transactions on Intelligence Technology is a leading venue for original research on the theoretical and experimental aspects of artificial intelligence technology. We are a fully open access journal co-published by the Institution of Engineering and Technology (IET) and the Chinese Association for Artificial Intelligence (CAAI) providing research which is openly accessible to read and share worldwide.
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