access icon free Iterative learning of an unknown road path through cooperative driving of vehicles

© The Institution of Engineering and Technology
Received 30/06/2019, Accepted 20/01/2020, Revised 20/10/2019, Published 28/01/2020

This study proposes a method for a vehicle controller to learn human driving behaviours through iterative interactions. In particular, the vehicle controller and the human driver jointly control a vehicle along a path only known to the human driver. Through repeated cooperative driving, the vehicle controller estimates the hidden desired path of the driver by minimising the control input. Eventually, semi-autonomous driving is realised since the vehicle controller is able to automatically track the target path and release the human driver from the driving task. The iterative learning of the human target path on the basis of the proposed algorithm is in the spatial domain, and is effective in the presence of uncertain human driving speeds. The validity of the proposed method is proved by rigorous analysis and demonstrated by numerical simulations.

Inspec keywords: road safety; mobile robots; road vehicles; learning (artificial intelligence); road traffic; iterative methods

Other keywords: unknown road path; control input; uncertain human driving speeds; human target path; hidden desired path; driving task; vehicle controller; semiautonomous driving; human driver; iterative learning

Subjects: Mobile robots; Knowledge engineering techniques; Road-traffic system control; Computer vision and image processing techniques

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