Iterative learning of an unknown road path through cooperative driving of vehicles

Yang, Lin, Li, Yanan, Huang, Deqing and Xia, Jingkang (2020) Iterative learning of an unknown road path through cooperative driving of vehicles. IET Intelligent Transport Systems. pp. 1-9. ISSN 1751-956X

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This paper proposes a method for a vehicle controller to learn human driving behaviors 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 minimizing the control input. Eventually, semi-autonomous driving is realized 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.

Item Type: Article
Additional Information: Acknowledgment The authors would like to thank Dr. Jonathan Eden and Dr. Atsushi Takagi for their help in improving the presentation of this manuscript. The work was partially supported by the National Natural Science Foundation of China under Grants 61773323, 61433011, 61603316, 61733015, the Fundamental Research Funds for the Central Universities 2682018CX15 and Sichuan Science and Technology Program under Grants 2019YFG0345, 2019YJ0210.
Schools and Departments: School of Engineering and Informatics > Engineering and Design
Depositing User: Lucy Arnold
Date Deposited: 12 Feb 2020 10:23
Last Modified: 13 Feb 2020 08:45

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