This 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.
Iterative learning of an unknown road path through cooperative driving of vehicles
IET Intelligent Transport Systems ; 14 , 5 ; 423-431
2020-05-01
9 pages
Article (Journal)
Electronic Resource
English
road traffic , road vehicles , road safety , mobile robots , iterative methods , learning (artificial intelligence) , iterative learning , unknown road path , vehicle controller , human driver , hidden desired path , control input , semiautonomous driving , driving task , human target path , uncertain human driving speeds
Iterative learning of an unknown road path through cooperative driving of vehicles
DOAJ | 2020
|Iterative learning of an unknown road path through cooperative driving of vehicles
IET | 2020
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