摘要
高速公路闸口区域内,由于周围车辆行为的随机性,传统路径规划和智能决策方法不能实现无人驾驶车辆的安全行驶。针对这一问题,提出一种决策树的结构化控制模型,通过控制速度使车辆沿预定路径安全驶过闸口区。首先给出高速闸口区场景参数、闸口区收费窗口到匝道之间路径预定义方法和车辆模型;在此基础上提出决策树的结构化控制模型,控制速度实现车辆安全行驶,并采用纯追踪法使车辆沿预定路径通过闸口区;最后通过计算机仿真创建随机道路环境,验证决策树控制模型的安全性和车辆速度的连续性、加减速度的可执行性。结果表明,无人驾驶车辆在周围车辆遵守交通规则的前提下,通过决策树控制模型控制车身速度可实现安全通过高速公路闸口区,并且车辆速度、加减速度均符合交通规则且在车辆可执行范围内。
In expressway toll region,the traditional method of path planning and intelligent decision-making cannot realize safe driving of autonomous driving vehicle due to randomness of surrounding vehicles behavior.To solve the problem,a structured control model,named as decision tree,is proposed,which controls the vehicle speed to make it drives through the toll region along the predefined path safely.Firstly,the scene parameters of the expressway toll region,the method for predefining the path between the toll window and of the ramp,and the vehicle model are given.On this basis,a structured control model of the decision tree is proposed to control the speed to realize safe driving of the vehicle.Meanwhile,the pure tracking method is adopted for navigating the vehicle driving along the predefined path.Finally,random road environment is constructed by computer simulation for verifying the safety of the decision tree control model,the continuity of vehicle speed and feasibility of acceleration and deceleration.The results show that autonomous driving vehicle can pass through the expressway toll region safely with vehicle speed controlled by the decision tree control model under the condition that surrounding vehicles obey traffic rules.In addition,the vehicle speed,acceleration and deceleration comply with the traffic rules,and are within the executable range.
作者
熊莹
毛雪松
Xiong Ying;Mao Xuesong(College of Computer Science and Technology, Wuhan University of Science and Technology, Wuhan 430065;Wuhan University of Science and Technology, Hubei Province Key Laboratory of Intelligent Information, Processing and Real-time Industrial System, Wuhan 430065;School of Information Science and Engineering/School of Artificial Intelligence, Wuhan University of Science and Technology, Wuhan 430081)
出处
《汽车工程》
EI
CSCD
北大核心
2020年第9期1263-1269,共7页
Automotive Engineering
关键词
路径规划
决策树
无人驾驶
智能决策
类人行为驾驶
path planning
decision tree
autonomous driving
intelligent decision-making
human-like driving
