A fuzzy-inference-based reinforcement learning method of overtaking decision making for automated vehicles
文献类型：期刊论文
| 作者 | Wu, Qiong1,4; Cheng, Shuo2; Li, Liang2; Yang, Fan3; Meng, Li Jun3; Fan, Zhi Xian2; Liang, Hua Wei4 |
| 刊名 | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING
 |
| 出版日期 | 2021-05-14 |
| 关键词 | Automated vehicle intelligent decision making fuzzy inference reinforcement learning |
| ISSN号 | 0954-4070 |
| DOI | 10.1177/09544070211018099 |
| 通讯作者 | Cheng, Shuo(chengs16@mails.tsinghua.edu.cn) |
| 英文摘要 | Intelligent decision control is one key issue of automated vehicles. Complex dynamic traffic flow and multi-requirement of passengers including vehicle safety, comfort, vehicle efficiency bring about tremendous challenges to vehicle decision making. Overtaking maneuver is a demanding task due to its large potential of traffic collision. Therefore, this paper proposes a fuzzy-inference-based reinforcement learning (FIRL) approach of autonomous overtaking decision making. Firstly, the problem of overtaking is formulated as a multi-objective Markov decision process (MDP) considering vehicle safety, driving comfort, and vehicle efficiency. Secondly, a temporal difference learning based on dynamic fuzzy (DF-TDL) is presented to learn optimized policies for autonomous overtaking decision making. Fuzzy inference is introduced to deal with continuous states and boost learning process. The RL algorithm decides whether to overtake or not based on the learned policies. Then, the automated vehicle executes local path planning and tracking. Furthermore, a simulation platform based on simulation of urban mobility (SUMO) is established to generate the random training data, that is, various traffic flows for algorithm iterative learning and validate the proposed method, extensive test results demonstrate the effectiveness of the overtaking decision-making method. |
| WOS关键词 | INTELLIGENT VEHICLES |
| 资助项目 | Electric Automobile and Intelligent Connected Automobile Industry Innovation Project of Anhui Province[JAC2019022505] ; Key Research and Development Projects in Shandong Province[2019TSLH701] ; Key Research and Development Projects in Shandong Province[2019JZZY020116] |
| WOS研究方向 | Engineering ; Transportation |
| 语种 | 英语 |
| WOS记录号 | WOS:000682130200001 |
| 出版者 | SAGE PUBLICATIONS LTD |
| 资助机构 | Electric Automobile and Intelligent Connected Automobile Industry Innovation Project of Anhui Province ; Key Research and Development Projects in Shandong Province |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/123054]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 通讯作者 | Cheng, Shuo |
| 作者单位 | 1.Univ Sci & Technol, Hefei, Peoples R China 2.Tsinghua Univ, State Key Lab Automot Safety & Energy, Room A539-3,Lee Shau Kee Sci & Technol Bldg, Beijing 100084, Peoples R China 3.Tianjin Trinova Automobile Technol Co Ltd, Tianjin, Peoples R China 4.Chinese Acad Sci, Hefei Inst Phys Sci, Hefei, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wu, Qiong,Cheng, Shuo,Li, Liang,et al. A fuzzy-inference-based reinforcement learning method of overtaking decision making for automated vehicles[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING,2021. |
| APA | Wu, Qiong.,Cheng, Shuo.,Li, Liang.,Yang, Fan.,Meng, Li Jun.,...&Liang, Hua Wei.(2021).A fuzzy-inference-based reinforcement learning method of overtaking decision making for automated vehicles.PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING. |
| MLA | Wu, Qiong,et al."A fuzzy-inference-based reinforcement learning method of overtaking decision making for automated vehicles".PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING (2021). |
入库方式： OAI收割
来源：合肥物质科学研究院
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