Study of cognitive route search technique for self-driving vehicles
Study of cognitive route search technique for self-driving vehicles
复制标题
自动驾驶车辆认知路径搜索技术研究
DOI：
10.1109/icci-cc.2017.8109771
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Mizoguchi Fumio
中科院分区：
文献类型：
--
作者：
Hiraishi Hironori;Mizoguchi Fumio
在本文中，我们引入了时间受限启发式搜索(TCS)作为一种结合了自动驾驶车辆认知方面的路径搜索技术。TCS是一种搜索方法，使用它可以预先设置生成路径的时间限制。如果我们考虑到自动驾驶车辆将大规模生产和广泛分布的情况，通过类似的路径搜索方法生成的大量类似路线上行驶的车辆可能会造成新的交通拥堵。这将导致最佳路由不再保持最佳的情况。这被认为是博弈论和社会心理学领域的社会困境。个体理性选择并不等同于整个社会的理性选择。TCS可以通过在时间限制内生成路由来克服这一问题。时间限制越长，生成的路径越接近最佳路径。TCS允许我们使用可用的时间限制来控制最优性，而不是总是采用最优路线。TCS最重要的特点是，在接近目的地的行程的后半段，节点扩展趋于最小化，以确保搜索在规定的时间限制内完成。TCS在旅程的初始部分进行搜索，该搜索与车辆在不久的将来将继续行驶的路线相关，但在很大程度上没有考虑路线的后一部分。因此，TCS可以看作是一种选择产生即时效益的选项的搜索技术。这一特点在认知心理学中被称为当前偏向或前景理论。因此，我们可以推断，TCS提供了对自动驾驶车辆的认知判断能力。
In this paper, we introduce Time-Constrained Heuristic Search (TCS) as a route search technique that incorporates a cognitive aspect in self-driving vehicles. TCS is a search method using which we can set the time limit to generate a route in advance. If we consider a situation in which self-driving vehicles will be mass-produced and widely distributed, a large number of vehicles driving on similar routes generated through similar route search methods may cause new types of traffic congestion. This will result in a situation when the optimal route will no longer remain optimal. This is regarded as the social dilemma in the field of game theory and social psychology. Individual rational choice does not correspond with rational choice for a society as a whole. TCS can overcome this by generating a route within a time limit. A longer time limit yields a route more similar to the optimal route. TCS allows us to control the optimality using the time limit available instead of always adopting the optimal route. The most important feature of TCS is that the node expansion in the latter portion of the journey near the destination tends to be minimized to ensure that the search finishes within the prescribed time limit. TCS conducts a search during the initial portion of the journey that is related to the route the vehicle will move on in the immediate future, but does not take into account the latter portion of the route to a great extent. So, TCS can be regarded as the search technique that selects an option to generate immediate benefit. This characteristic is well known as the present-oriented bias or the prospect theory in cognitive psychology. Hence, we can infer that TCS provides an ability of cognitive judgment to self-driving vehicles.