无人驾驶车辆行为决策系统研究
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摘要
调研了国内外无人驾驶车辆行为决策系统的研究现状,对行为决策系统进行分类,基于国内外行为决策系统研究实例,对基于规则和基于学习算法的不同行为决策系统的实现方式、适用条件及优缺点进行比较,分析了现阶段无人车行为决策系统的研究水平、技术难点和发展趋势,为无人驾驶车辆行为决策系统的设计提供参考。
The research status of behavior decision-making system of unmanned vehicle in China and other countries was investigated, and the behavior decision-making system was classified. Based on the research samples of behavior decision-making systems in China and other countries, the implementation and application conditions of different behavior decision-making systems based on rules and learning algorithms were discussed, and the advantages and disadvantages were compared. The research level, technical difficulties and development trends of the current unmanned vehicle behavior decision-making system were analyzed, which provided a reference for the design of the unmanned vehicle behavior decision-making system.
The research status of behavior decision-making system of unmanned vehicle in China and other countries was investigated, and the behavior decision-making system was classified. Based on the research samples of behavior decision-making systems in China and other countries, the implementation and application conditions of different behavior decision-making systems based on rules and learning algorithms were discussed, and the advantages and disadvantages were compared. The research level, technical difficulties and development trends of the current unmanned vehicle behavior decision-making system were analyzed, which provided a reference for the design of the unmanned vehicle behavior decision-making system.
引文
[1]陈佳佳.城市环境下无人驾驶车辆决策系统研究[D].合肥:中国科学技术大学,2014.
[2]孙振平.自主驾驶汽车智能控制系统[D].长沙:国防科学技术大学,2004.
[3]张荷芳,豆菲菲.多传感器信息融合的无人车行驶策略[J].计算机与数字工程,2015(3):392-395.
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[5]Cho H,Seo Y W,Kumar B V K V,et al.A Multi-Sensor Fusion System for Moving Object Detection and Tracking in Urban Driving Environments[C]//IEEE International Conference on Robotics and Automation(ICRA).IEEE,2014:1836-1843.
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[7]Thrun S.Probabilistic Robotics[J].Communications of the Acm,2005,45(3):52-57.
[8]Zhang J,Singh S.LOAM:Lidar Odometry and Mapping in Real-Time[C]//Robotics:Science and Systems.2014,2:9.
[9]谭同超.有限状态机及其应用[D].广州:华南理工大学,2013.
[10]Talebpour A,Mahmassani H S,Hamdar S H.Modeling Lane-Changing Behavior in a Connected Environment:A Game Theory Approach[J].Transportation Research Part C,2015,59:216-232.
[11]杜明博.基于人类驾驶行为的无人驾驶车辆行为决策与运动规划方法研究[D].合肥:中国科学技术大学,2016.
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[14]Bacha A,Bauman C,Faruque R,et al.Odin:Team Victor Tango's entry in the DARPA Urban Challenge[J].Journal of Field Robotics,2008,25(8):467-492.
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[16]Ziegler J,Bender P,Schreiber M,et al.Making Bertha Drive-An Autonomous Journey on a Historic Route[J].IEEE Intelligent Transportation Systems Magazine,2015,6(2):8-20.
[17]Ross S,Melik-Barkhudarov N,Shankar K S,et al.Learning Monocular Reactive UAV Control in Cluttered Natural Environments[C]//IEEE International Conference on Robotics and Automation.IEEE,2013:1765-1772.
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[19]Bojarski M,Del Testa D,Dworakowski D,et al.End to End Learning for Self-Driving Cars[J].2016.
[20]Codevilla F,Müller M,López A,et al.End-to-end Driving via Conditional Imitation Learning[J].2017.
[21]Santana E,Hotz G.Learning a Driving Simulator[J].2016.
[22]Shalevshwartz S,Shammah S,Shashua A.Safe,MultiAgent,Reinforcement Learning for Autonomous Driving[J].2016.
[23]熊光明,李勇,王诗源.基于有限状态机的智能车辆交叉口行为预测与控制[J].北京理工大学学报,2015,35(1):34-38.
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[25]Furda A,Vlacic L.Enabling Safe Autonomous Driving in Real-World City Traffic Using Multiple Criteria Decision Making[J].IEEE Intelligent Transportation Systems Magazine,2011,3(1):4-17.
[26]Kammel S,ren,Ziegler J,et al.Team Annie WAY’s Autonomous System for the 2007 DARPA Urban Challenge[J].Journal of Field Robotics,2008,25(9):615-639.
[27]Rauskolb F W,Kai B,Lipski C,et al.Caroline:An Autonomously Driving Vehicle for Urban Environments[J].Journal of Field Robotics,2008,25(9):674-724.
[28]Miller I,Campbell M,Huttenlocher D,et al.Team Cornell's Skynet:Robust perception and Planning in an Urban Environment[J].Journal of Field Robotics,2008,25(8):493-527.
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[30]张朋飞,何克忠,欧阳正柱,等.多功能室外智能移动机器人实验平台——THMR-V[J].机器人,2002,24(2):97-101.
[31]Patz B J,Papelis Y,Pillat R,et al.A Practical Approach to Robotic Design for the DARPA Urban Challenge[J].Journal of Field Robotics,2008,25(8):528-566.
[32]Bohren J,Foote T,Keller J,et al.Little Ben:The Ben Franklin Racing Team's Entry in the 2007 DARPA Urban Challenge[J].Journal of Field Robotics,2008,25(9):598-614.
[33]Pan X,You Y,Wang Z,et al.Virtual to Real Reinforcement Learning for Autonomous Driving[J].2017.
[34]Sebastian B,Tobias G,Rüdiger D.Probabilistic DecisionMaking under Uncertainty for Autonomous Driving using Continuous POMDPs[J].IEEE 17th International Conference on Intelligent Transportation Systems(ITSC),2014:392-399.
[35]Barto A G,Mahadevan S.Recent Advances in Hierarchical Reinforcement Learning[J].Discrete Event Dynamic Systems,2003,13(4):341-379.
[36]Chen C,Seff A,Kornhauser A,et al.Deep Driving:Learning Affordance for Direct Perception in Autonomous Driving[C]//IEEE International Conference on Computer Vision.IEEE,2015:2722-2730.
[37]Dolan J M.A Learning-Based Autonomous Driver:Emulate Human Driver's Intelligence in Low-Speed Car Following[J].Proceedings of SPIE-The International Society for Optical Engineering,2010,7693.
[38]Zheng R,Liu C,Guo Q.A Decision-Making Method for Autonomous Vehicles Based on Simulation and Reinforcement Learning[C]//International Conference on Machine Learning and Cybernetics.IEEE,2014:362-369.
[39]Fridman L,Jenik B,Terwilliger J.Deep Traffic:Driving Fast through Dense Traffic with Deep Reinforcement Learning[J].2018.
[40]Hubmann C,Becker M,Althoff D,et al.Decision Making for Autonomous Driving Considering Interaction and Uncertain Prediction of Surrounding Vehicles[C]//Intelligent Vehicles Symposium.IEEE,2017:1671-1678.
[41]Zhang H,Geiger A,Urtasun R.Understanding High-Level Semantics by Modeling Traffic Patterns.IEEE International Conference on Computer Vision.2013:3056-3063.
[42]陈平.辅助驾驶中控制与决策关键技术研究[D].上海:上海交通大学,2011.
[43]黄子超.基于有限状态机的车队纵向协作策略建模与仿真[D].武汉:武汉理工大学,2013.
[44]田庚.复杂动态城市环境下无人驾驶车辆仿生换道决策模型研究[D].北京:北京理工大学,2016.
[45]Xu H,Gao Y,Yu F,et al.End-to-end Learning of Driving Models from Large-scale Video Datasets[J].2016:3530-3538.
[46]张文明,韩泓冰,杨珏,等.基于驾驶员行为的神经网络无人驾驶控制[J].华南理工大学学报,2016,44(12):74-80.
[47]Argall B D,Chernova S,Veloso M,et al.A Survey of Robot Learning from Demonstration[J].Robotics&Autonomous Systems,2009,57(5):469-483.
[48]Broad A,Arkin J,Ratliff N,etal.Real-Time Natural Language Corrections for Assistive Robotic Manipulators[J].International Journal of Robotics Research,2017,36(5-7).
[49]Dosovitskiy A,Koltun V.Learning to Act by Predicting the Future[J].2016.
[50]陈慧,徐建波.智能技术发展趋势[J].中国集成电路,2014,186(11):64-70.
[51]伦一.自动驾驶产业发展现状及趋势[J].电信网技术,2017(6):33-36.
[2]孙振平.自主驾驶汽车智能控制系统[D].长沙:国防科学技术大学,2004.
[3]张荷芳,豆菲菲.多传感器信息融合的无人车行驶策略[J].计算机与数字工程,2015(3):392-395.
[4]Choi J,Ulbrich s,Lichte B,et al.Multi-Target Tracking Using a 3D-Lidar Sensor for Autonomous Vehicles[C]//International IEEE Conference on Intelligent Transportation Systems.IEEE,2013:881-886.
[5]Cho H,Seo Y W,Kumar B V K V,et al.A Multi-Sensor Fusion System for Moving Object Detection and Tracking in Urban Driving Environments[C]//IEEE International Conference on Robotics and Automation(ICRA).IEEE,2014:1836-1843.
[6]Davison A J.Future Mapping:The Computational Structure of Spatial AI Systems[J].2018.
[7]Thrun S.Probabilistic Robotics[J].Communications of the Acm,2005,45(3):52-57.
[8]Zhang J,Singh S.LOAM:Lidar Odometry and Mapping in Real-Time[C]//Robotics:Science and Systems.2014,2:9.
[9]谭同超.有限状态机及其应用[D].广州:华南理工大学,2013.
[10]Talebpour A,Mahmassani H S,Hamdar S H.Modeling Lane-Changing Behavior in a Connected Environment:A Game Theory Approach[J].Transportation Research Part C,2015,59:216-232.
[11]杜明博.基于人类驾驶行为的无人驾驶车辆行为决策与运动规划方法研究[D].合肥:中国科学技术大学,2016.
[12]Urmson C,Anhalt J,Bagnell D,et al.Autonomous Driving in Urban Environments:Boss and the Urban Challenge[J].Journal of Field Robotics,2008,25(8):425–466.
[13]Montemerlo M,Becker J,Bhat S,et al.Junior:The Stanford entry in the Urban Challenge[J].Journal of Field Robotics,2008,25(9):569-597.
[14]Bacha A,Bauman C,Faruque R,et al.Odin:Team Victor Tango's entry in the DARPA Urban Challenge[J].Journal of Field Robotics,2008,25(8):467-492.
[15]Leonard J,How J,Teller S,et al.A Perception-Driven Autonomous Urban Vehicle[J].Journal of Field Robotics,2008,25(10):727-774.
[16]Ziegler J,Bender P,Schreiber M,et al.Making Bertha Drive-An Autonomous Journey on a Historic Route[J].IEEE Intelligent Transportation Systems Magazine,2015,6(2):8-20.
[17]Ross S,Melik-Barkhudarov N,Shankar K S,et al.Learning Monocular Reactive UAV Control in Cluttered Natural Environments[C]//IEEE International Conference on Robotics and Automation.IEEE,2013:1765-1772.
[18]Isele D,Rahimi R,Cosgun A,et al.Navigating Occluded Intersections with Autonomous Vehicles Using Deep Reinforcement Learning[J].2017.
[19]Bojarski M,Del Testa D,Dworakowski D,et al.End to End Learning for Self-Driving Cars[J].2016.
[20]Codevilla F,Müller M,López A,et al.End-to-end Driving via Conditional Imitation Learning[J].2017.
[21]Santana E,Hotz G.Learning a Driving Simulator[J].2016.
[22]Shalevshwartz S,Shammah S,Shashua A.Safe,MultiAgent,Reinforcement Learning for Autonomous Driving[J].2016.
[23]熊光明,李勇,王诗源.基于有限状态机的智能车辆交叉口行为预测与控制[J].北京理工大学学报,2015,35(1):34-38.
[24]陈雪梅,田庚,苗一松,等.城市环境下无人驾驶车辆驾驶规则获取及决策算法[J].北京理工大学学报,2017,37(5):492-496.
[25]Furda A,Vlacic L.Enabling Safe Autonomous Driving in Real-World City Traffic Using Multiple Criteria Decision Making[J].IEEE Intelligent Transportation Systems Magazine,2011,3(1):4-17.
[26]Kammel S,ren,Ziegler J,et al.Team Annie WAY’s Autonomous System for the 2007 DARPA Urban Challenge[J].Journal of Field Robotics,2008,25(9):615-639.
[27]Rauskolb F W,Kai B,Lipski C,et al.Caroline:An Autonomously Driving Vehicle for Urban Environments[J].Journal of Field Robotics,2008,25(9):674-724.
[28]Miller I,Campbell M,Huttenlocher D,et al.Team Cornell's Skynet:Robust perception and Planning in an Urban Environment[J].Journal of Field Robotics,2008,25(8):493-527.
[29]Miller I,Campbell M,Dan H,et al.Team Cornell's Skynet:Robust Perception and Planning in an Urban Environment[J].Journal of Field Robotics,2008,25(8):493-527.
[30]张朋飞,何克忠,欧阳正柱,等.多功能室外智能移动机器人实验平台——THMR-V[J].机器人,2002,24(2):97-101.
[31]Patz B J,Papelis Y,Pillat R,et al.A Practical Approach to Robotic Design for the DARPA Urban Challenge[J].Journal of Field Robotics,2008,25(8):528-566.
[32]Bohren J,Foote T,Keller J,et al.Little Ben:The Ben Franklin Racing Team's Entry in the 2007 DARPA Urban Challenge[J].Journal of Field Robotics,2008,25(9):598-614.
[33]Pan X,You Y,Wang Z,et al.Virtual to Real Reinforcement Learning for Autonomous Driving[J].2017.
[34]Sebastian B,Tobias G,Rüdiger D.Probabilistic DecisionMaking under Uncertainty for Autonomous Driving using Continuous POMDPs[J].IEEE 17th International Conference on Intelligent Transportation Systems(ITSC),2014:392-399.
[35]Barto A G,Mahadevan S.Recent Advances in Hierarchical Reinforcement Learning[J].Discrete Event Dynamic Systems,2003,13(4):341-379.
[36]Chen C,Seff A,Kornhauser A,et al.Deep Driving:Learning Affordance for Direct Perception in Autonomous Driving[C]//IEEE International Conference on Computer Vision.IEEE,2015:2722-2730.
[37]Dolan J M.A Learning-Based Autonomous Driver:Emulate Human Driver's Intelligence in Low-Speed Car Following[J].Proceedings of SPIE-The International Society for Optical Engineering,2010,7693.
[38]Zheng R,Liu C,Guo Q.A Decision-Making Method for Autonomous Vehicles Based on Simulation and Reinforcement Learning[C]//International Conference on Machine Learning and Cybernetics.IEEE,2014:362-369.
[39]Fridman L,Jenik B,Terwilliger J.Deep Traffic:Driving Fast through Dense Traffic with Deep Reinforcement Learning[J].2018.
[40]Hubmann C,Becker M,Althoff D,et al.Decision Making for Autonomous Driving Considering Interaction and Uncertain Prediction of Surrounding Vehicles[C]//Intelligent Vehicles Symposium.IEEE,2017:1671-1678.
[41]Zhang H,Geiger A,Urtasun R.Understanding High-Level Semantics by Modeling Traffic Patterns.IEEE International Conference on Computer Vision.2013:3056-3063.
[42]陈平.辅助驾驶中控制与决策关键技术研究[D].上海:上海交通大学,2011.
[43]黄子超.基于有限状态机的车队纵向协作策略建模与仿真[D].武汉:武汉理工大学,2013.
[44]田庚.复杂动态城市环境下无人驾驶车辆仿生换道决策模型研究[D].北京:北京理工大学,2016.
[45]Xu H,Gao Y,Yu F,et al.End-to-end Learning of Driving Models from Large-scale Video Datasets[J].2016:3530-3538.
[46]张文明,韩泓冰,杨珏,等.基于驾驶员行为的神经网络无人驾驶控制[J].华南理工大学学报,2016,44(12):74-80.
[47]Argall B D,Chernova S,Veloso M,et al.A Survey of Robot Learning from Demonstration[J].Robotics&Autonomous Systems,2009,57(5):469-483.
[48]Broad A,Arkin J,Ratliff N,etal.Real-Time Natural Language Corrections for Assistive Robotic Manipulators[J].International Journal of Robotics Research,2017,36(5-7).
[49]Dosovitskiy A,Koltun V.Learning to Act by Predicting the Future[J].2016.
[50]陈慧,徐建波.智能技术发展趋势[J].中国集成电路,2014,186(11):64-70.
[51]伦一.自动驾驶产业发展现状及趋势[J].电信网技术,2017(6):33-36.