自动驾驶障碍车辆行为预测技术研究Research on Behaviour Prediction Technologies of Autonomous Driving Obstacle Vehicles
李宇寂
摘要(Abstract)：
为了使自动驾驶车辆可以像有经验的驾驶员一样对周围车辆的行为做出准确的判断,通过车辆周围传感器来感知障碍车辆的相对位置信息,并结合自身车辆的高精定位信息,获得障碍车辆的精确位置,通过应用隐马尔可夫模型建立不同驾驶行为的预测模型,最终通过模型的预测来判断障碍车辆的可能驾驶意图,辅助自动驾驶车辆进行有效的驾驶决策,更好的规划安全高效的行驶路线。
关键词(KeyWords)： 自动驾驶;障碍车辆;行为预测;隐马尔可夫模型
基金项目(Foundation):
作者(Author): 李宇寂
DOI: 10.19822/j.cnki.1671-6329.20200181
参考文献(References)：
- [1]蔡英凤,王海,张为公.基于视频的城市快速路交通流检测及车辆行为监控[J].东南大学学报(英文版),2011(02):164-168.
- [2]黄如林.无人驾驶汽车动态障碍物避撞关键技术研究[D]合肥：中国科学技术大学，2017.
- [3]耿新力.城区不确定环境下无人驾驶车辆行为决策方法研究[D].合肥:中国科学技术大学，2017.
- [4]Dosovitskiy A,Koltun V.Learning to Act by Predicting the Future[C].ICLR,2017.
- [5]D Needell,R Ward,N Srebro.Stochastic gradient descent and the randomized kaczmarz algorithm[J].In Advances in Neural Information Processing Systems,2014:1017-1025.
- [6]Bojarski M,Del Testa D,Dworakowski D,et al.End to End Learning for Self-Driving Cars[EB/OL].[2020-11-30].https://www.researchgate.net/publication/301648615_End_to_End_Learning_for_Self-Driving_Cars.2016.
- [7]Codevilla F,Müller M,López A,et al.End-to-end Driving via Conditional Imitation Learning[EB/OL].[2020-11-30].https://www.researchgate.net/publication/320280083_Endto-end_Driving_via_Conditional_Imitation_Learning,2017.
- [8]Santana E,Hotz G.Learning a Driving Simulator[EB/OL].[2020-11-30].https://www.researchgate.net/publication/305809416_Learning_a_Driving_Simulator,2016.
- [9]Shalevshwartz S,Shammah S,Shashua A.Safe,MultiAgent,Reinforcement Learning for Autonomous Driving[EB].[2020-11-30].https://www.researchgate.net/publication/305809416_Learning_a_Driving_Simulator,2016.
- [10]左磊.智能驾驶车辆自主决策与规划的增强学习方法研究[D].长沙：国防科技大学，2016.
- [11]袁盛玥.自动驾驶车辆城区道路环境换道行为决策方法研究[D].北京：北京理工大学，2016.
- [12]John Schulman,Philipp Moritz,Sergey Levine,et al.High dimensional continuous control using generalized advantage estimation[EB/OL].ar Xiv preprint ar Xiv:1506.02438,2015.
- [13]Keith Naughton.Human drivers are bumping into driverless cars and exposing a key flaw[EB/OL].[2020-11-30].http://www.autonews.com/article/20151218/OEM11/151219874/human-drivers-arebumping-into-driverlesscars-and-exposing-a-key-flaw,2015.
- [14]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.
- [15]Timothy A Mann,Doina Precup,Shie Mannor.Approximate value iteration with temporally extended actions[J].Journal of Artificial Intelligence Research,2015(53):375-438.
- [16]Fernando T,Denman S,Sridharan S,et al.Soft+Hardwired Attention:An LSTM Framework for Human Trajectory Prediction and Abnormal Event Detection[J].Preprint to Neural Networks,2017.
- [17]Uijlings J R R,Sande K E A V D,Gevers T,et al.Selective Search for Object Recognition[J].International Journal of Computer Vision,2013,104(2):154-171.
- [18]Gowtham A,Anuj K,Vipin K.Spatio-Temporal Data Mining[J].ACM Computing Surveys,2018,51(4):1-41.
- [19]Gianmaria T,Stefania M,Federico B.A probabilistic matrix factorization algorithm for approximation of sparse matrices in natural language processing[J].ICT Express,2018,4(2):87-90.
- [20]Frolov E,Oseledets I.Tensor Methods and Recommender Systems[EB/OL].[2020-11-30].Wiley Interdiplinary Reviews:Data Mining and Knowledge Discovery,https://arxiv.org/pdf/1603.06038v1.pdf,2016.
- [21]Mishra R,Kumar P,Bhasker B.A web recommendation system considering sequential information[J].Decision Support Systems,2015,75(07):1-10.