Journal of Shandong University(Engineering Science) ›› 2019, Vol. 49 ›› Issue (2): 23-33.doi: 10.6040/j.issn.1672-3961.0.2017.503

• Machine Learning & Data Mining • Previous Articles     Next Articles

Survey of human-robot interaction control for autonomous driving

Qijie ZOU1,2(),Haoyu LI1,Rubo ZHANG3,*(),Tengda PEI1,Yan LIU1   

  1. 1. College of Information Engineering, Dalian University, Dalian 116000, Liaoning, China
    2. Institute of Unmanned Systems, National University of Defense Technology, Changsha 410000, Hunan, China
    3. College of Mechanical and Electrical Engineering, Dalian Minzu University, Dalian 116000, Liaoning, China
  • Received:2017-10-09 Online:2019-04-20 Published:2019-04-19
  • Contact: Rubo ZHANG E-mail:jessie_zou_zou@163.com;zhangrubo@dlnu.edu.cn
  • Supported by:
    国家自然科学基金面上资助项目(61673084);辽宁省自然科学基金资助项目(201602204)

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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

CLC Number: 

  • TP311

Table 1

Autonomy levels of autonomy vehicle"

自主驾驶分级称呼
(SAE)		 SAE定义主体
NHTSA SAE 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

Fig.1

The human-robot interactions team framework"

Fig.2

General structure for solving human-robot interaction problems"

Fig.3

Four-layer hierarchical intelligent control architecture for autonomous driving"

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