自主驾驶的人机交互控制

doi:10.6040/j.issn.1672-3961.0.2017.503

摘要/Abstract

摘要：

本研究对自主驾驶的人机交互中机器学习方法进行综述。通过介绍自主驾驶中人机交互研究的价值和意义,明确了人机交互问题定义以及与机器学习之间的关系,构建了自主驾驶中人机交互团队的架构。围绕提出的人机交互的系统架构和研究方法展开讨论,提出了人机交互问题解决的通用架构。并且,重点针对自主系统和驾驶员两部分介绍了相关机器学习算法,对自主驾驶中人机交互控制的未来研究进行展望,并对本研究进行总结。

关键词: 人机交互, 自主驾驶, 驾驶员建模, 机器学习, 协同驾驶

Abstract:

This article summarizes the machine learning methods of human-robot interaction in autonomy vehicles. By introducing the value and significance of human-robot interaction, the relationship between the human-robot interaction problem definition and machine learning were identified, the human-robot interactions team framework was built. The frameworks of human-robot interaction and the research methods of autonomous driving system were reviewed, the general structure for solving human-robot interaction problems was presented. Furthermore, its machine learning algorithm from the two aspects of autonomous control system and driver modeling was introduced. The prospects of the future research direction were summarized.

Key words: human-robot interaction, autonomous driving, driver modeling, machine learning, cooperative driving

中图分类号:

TP311

邹启杰,李昊宇,张汝波,裴腾达,刘艳. 自主驾驶的人机交互控制[J]. 山东大学学报 (工学版), 2019, 49(2): 23-33.

Qijie ZOU,Haoyu LI,Rubo ZHANG,Tengda PEI,Yan LIU. Survey of human-robot interaction control for autonomous driving[J]. Journal of Shandong University(Engineering Science), 2019, 49(2): 23-33.

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自主驾驶分级		称呼 (SAE)	SAE定义	主体
NHTSA	SAE	称呼 (SAE)	SAE定义	驾驶操作	周边监控	支援	作用域
0	0	无自动化	由人类全权操作汽车,驾驶过程中可以得到警告和保护系统的辅助	人类驾驶员	人类驾驶员		无
1	1	辅助驾驶	系统在转向和制动中的一项操作提供支援,其余驾驶操作由人类完成	人类驾驶员	人类驾驶员		部分
2	2	部分自动化	系统在转向和制动中的多项操作提供支援,其余驾驶操作由人类完成	系统	人类驾驶员		部分
3	3	有条件自动化	由无人系统完成全部驾驶操作,人类驾驶员根据系统请求,完成适当应答	系统	系统		部分
4	4	高度自动化	由无人系统完成全部驾驶操作,遇到问题向人类求助时,并不一定会全部应答	系统	系统	系统	部分
	5	完全自动化	由无人系统完成全部驾驶操作,人类可以接管操作,同时可以在全部环境下驾驶操作	系统	系统	系统	全域

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