Learning to drive the human way: a step towards intelligent vehicles
Learning to drive the human way: a step towards intelligent vehicles
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学习以人性化的方式驾驶：迈向智能汽车的一步
DOI：
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
R. J. Oentaryo
中科院分区：
文献类型：
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作者：
Michel Pasquier;R. J. Oentaryo
本文介绍了基于实例学习的智能驾驶系统开发的一系列工作。在这种方法中，受人类小脑控制机制的启发，驾驶技能被建模为连续的决策过程，使用将感觉输入映射到控制输出的近似规则。由于设计这样一个规则集是困难的，我们的目标是通过自动从样本数据中提取规则来获取人类的专业知识。驾驶模拟器提供场景和数据收集功能，而由多个自组织神经模糊规则子系统组成的学习系统实现驾驶模型。到目前为止，成功实现的驾驶技能包括倒车/平行停车和u型转弯等操作操作，这些操作在模拟和使用微处理器控制的模型车中都得到了验证，以及车道跟随和变道。还讨论了战术驾驶技巧的出现，例如决定何时超车，自动处理各种交通情况。
This paper describes a series of works on the development of an intelligent driving system that will learn from example. In this approach, inspired from the control mechanisms in the human cerebellum, driving skills are modelled as continuous decision-making processes using approximate rules that map sensory input onto control output. Since designing such a rule set is difficult, we aim at capturing human expertise by automatically extracting the rules from the sample data. A driving simulator provides both scenarios and data collection features while a learning system comprising several self-organising neuro-fuzzy rule-based subsystems realises the driving model. Driving skills successfully achieved so far include operational manoeuvres such as reverse/ parallel parking and U-turn, validated both in simulation and using a microprocessor-controlled model car, as well as lane-following and lane-changing. Also discussed is the emergence of tactical driving skills, such as deciding when to overtake, to automatically handle various traffic situations.
DOI：
10.1073/pnas.0407401101
发表时间：
2004-11-16
影响因子：
11.1
作者：
Lutz, A;Greischar, LL;Davidson, RJ
通讯作者：
Davidson, RJ