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Iterative learning of an unknown road path through cooperative driving of vehicles
journal contribution
posted on 2023-06-09, 20:31 authored by Lin Yang, Yanan LiYanan Li, Deqing Huang, Jingkang XiaThis 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.
History
Publication status
- Published
File Version
- Accepted version
Journal
IET Intelligent Transport SystemsISSN
1751-956XPublisher
Institution of Engineering and TechnologyExternal DOI
Issue
5Volume
14Page range
423-431Department affiliated with
- Engineering and Design Publications
Notes
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.Full text available
- No
Peer reviewed?
- Yes
Legacy Posted Date
2020-02-12First Compliant Deposit (FCD) Date
2020-02-11Usage metrics
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