MyJournals Home  

RSS FeedsSensors, Vol. 19, Pages 3672: A Personalized Behavior Learning System for Human-Like Longitudinal Speed Control of Autonomous Vehicles (Sensors)

 
 

23 august 2019 19:00:54

 
Sensors, Vol. 19, Pages 3672: A Personalized Behavior Learning System for Human-Like Longitudinal Speed Control of Autonomous Vehicles (Sensors)
 




As the main component of an autonomous driving system, the motion planner plays an essential role for safe and efficient driving. However, traditional motion planners cannot make full use of the on-board sensing information and lack the ability to efficiently adapt to different driving scenes and behaviors of different drivers. To overcome this limitation, a personalized behavior learning system (PBLS) is proposed in this paper to improve the performance of the traditional motion planner. This system is based on the neural reinforcement learning (NRL) technique, which can learn from human drivers online based on the on-board sensing information and realize human-like longitudinal speed control (LSC) through the learning from demonstration (LFD) paradigm. Under the LFD framework, the desired speed of human drivers can be learned by PBLS and converted to the low-level control commands by a proportion integration differentiation (PID) controller. Experiments using driving simulator and real driving data show that PBLS can adapt to different drivers by reproducing their driving behaviors for LSC in different scenes. Moreover, through a comparative experiment with the traditional adaptive cruise control (ACC) system, the proposed PBLS demonstrates a superior performance in maintaining driving comfort and smoothness.


Del.icio.us Digg Facebook Google StumbleUpon Twitter
 
83 viewsCategory: Chemistry, Physics
 
Sensors, Vol. 19, Pages 3673: A Fully-Differential Switched-Capacitor Dual-Slope Capacitance-To-Digital Converter (CDC) for a Capacitive Pressure Sensor (Sensors)
Sensors, Vol. 19, Pages 3671: Optimizing the Limit of Detection of Waveguide-Based Interferometric Biosensor Devices (Sensors)
 
 
blog comments powered by Disqus


MyJournals.org
The latest issues of all your favorite science journals on one page

Username:
Password:

Register | Retrieve

Search:

Physics

Use these buttons to bookmark us:
Del.icio.us Digg Facebook Google StumbleUpon Twitter


Valid HTML 4.01 Transitional
Copyright © 2008 - 2019 Indigonet Services B.V.. Contact: Tim Hulsen. Read here our privacy notice.
Other websites of Indigonet Services B.V.: Nieuws Vacatures News Tweets Travel Photos Nachrichten Indigonet Finances Leer Mandarijn