一种基于驾驶员学习过程的在线估计算法(英文)  

An on-line estimation algorithm of driver's learning process

作　　者：唐进君[1] 曹凯[1] 

机构地区：[1]山东理工大学交通与车辆工程学院,山东淄博255049

出　　处：《山东大学学报（理学版）》2009年第7期83-88,共6页Journal of Shandong University(Natural Science)

摘　　要：为模拟驾驶员在跟踪期望路径过程中的驾驶决策过程,论文基于目标位置的思想对驾驶员的学习过程进行了建模。在建模过程中,利用三次B样条曲线灵活性的特点生成车辆对于目标位置的换道路径,同时,借助模糊神经系统模拟驾驶员跟踪目标位置过程的决策机制。并且提出了一种新的学习算法,即通过将模糊论域划分为若干局部线性网络以此拟合非线性函数。利用该算法能模仿驾驶员驾驶过程中的自学习能力。最后,对车辆躲避障碍物进行了仿真,结果表明该模型能较好的模拟驾驶员在换道过程中的驾驶行为及其自学习过程。To simulate human decision-making in steering to follow a planned path, we modeled the driver＇s learning process by using an idea of target position. The proposed model dealt with the driver＇ s decision-making mechanisms in tracking a target position by means of a Neuro-Fuzzy system. Here, a cubic B-spline curve was used to generate more flexible paths of lane-change to a target position. Furthermore, a learning algorithm was proposed to emulate a driver＇s self-learning skill from his driving experience by splitting the fuzzy area into a number of linear systems to approximate the nonlinear function locally and online. Results from the simu-lation of the obstacle avoidance showed the capability of the proposed model to simulate a driver＇s steering behavior with emphasis on learned skill.

关 键 词：三次B样条曲线 车辆换道 目标位置 模糊神经系统 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置] TP183[自动化与计算机技术—控制科学与工程]