社会认知自动驾驶  

Social Cognitive Autonomous Driving

作　　者：王聪[1] 胡文 李文博[1] 邢阳 陈宏昌 曹东璞 WANG Cong;HU Wen;LI Wenbo;XING Yang;CHEN Hongchang;CAO Dongpu(School of Vehicle and Mobility,Tsinghua University,Beijing 100084;School of Aerospace,Transport,and Manufacturing,Cranfield University,Cranfield MK430AL,UK;School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081)

机构地区：[1]清华大学车辆与运载学院,北京100084 [2]克兰菲尔德大学航空学院,克兰菲尔德MK430AL英国 [3]北京理工大学机械与车辆学院,北京100081

出　　处：《机械工程学报》2023年第20期304-324,共21页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(52131201,52302473)。

摘　　要：当前自动驾驶技术处于L3向L4的快速发展中,提升自动驾驶系统的场景适应能力成为现阶段主要任务。在城市混合交通流场景下,道路拓扑结构更为复杂,交通参与单元类型众多,车流量更加密集,存在显著的强交互博弈过程,给自动驾驶车辆的安全高效通行带来巨大挑战。同时,城市出行需求更加多样,随着智能座舱和人工智能技术的发展,对车辆智能化和人性化服务的期望日益提高。因此,赋予自动驾驶系统社会化属性和社会认知能力,在提升自动驾驶车辆行驶安全高效性的同时,更好地服务舱内驾乘人员,成为当前自动驾驶技术重要发展目标。面向智能网联汽车安全驾驶脑,通过自动驾驶、认知心理学和社会心理学多学科交叉融合,提出社会认知自动驾驶框架;其次针对车外交互围绕面向社会认知的车辆侵略性建模、强交互场景的社会认知决策以及紧急工况认知决策展开前期研究,针对车内交互围绕智能座舱场景-功能体系、舱内人员情绪认知与调节以及基于社会认知自动驾驶的人机接管展开前期研究;最后进行提炼和总结。Autonomous driving technology is in the rapid development from L3 to L4.Improving the scene adaptability of autonomous driving system has become the main task at this stage.In urban mixed traffic flow scenarios,the road topology structure is more complex,the types of traffic participating units are various,and the traffic flow is more intensive.There is a significant strong interactive game process,which brings huge challenges to the safe and efficient driving of autonomous driving vehicle.At the same time,urban travel demands are more diverse.With the development of intelligent cockpit and artificial intelligence technology,the expectation of vehicle intelligent and humanized service is increasing.Therefore,endowing the autonomous driving system with socialized attributes and social cognitive ability has become an important development goal of the current autonomous driving technology,so as to improve the driving safety and efficiency of autonomous vehicles while serve the in-cabin drivers and passengers better at the same time.Firstly,with the goal of constructing the intelligent and connected vehicle safety driving brain,the framework of social cognitive autonomous driving is proposed by integrating the subjects of autonomous driving,cognitive psychology and social psychology.Secondly,the introduction of preliminary research on vehicle external interactions focuses on social cognitive vehicle aggression modelling,social cognitive decision making in strong interaction scenarios,and cognitive decision making in emergency conditions.For vehicle internal interactions,the introduction focuses on intelligent cockpit scenarios-functional system,in-cabin person emotion cognition and regulation,and human-machine takeover based on social cognitive automatic driving.Finally,the paper is summarized in the last section.

关 键 词：自动驾驶 社会认知 混合交通 决策规划 

分 类 号：U461[机械工程—车辆工程]