超车
控制(管理)
计算机科学
高级驾驶员辅助系统
执行机构
巡航控制
节气门
车辆动力学
控制系统
模拟
汽车工程
工程类
人工智能
运输工程
电气工程
作者
Elliot Weiss,J. Christian Gerdes
标识
DOI:10.1109/smc53992.2023.10394199
摘要
Driving through traffic often involves sequences of distinct maneuvers, for example changing lanes and overtaking slower vehicles. To assist drivers in these situations, a system for shared decision making and control (SDMC) is developed, taking inspiration from the lead-follow relationship in partner dancing. The SDMC system plans maneuvers through parallel nonlinear optimizations, infers the driver's intended maneuver, and shares control over steering, throttle, and braking actuators to jointly execute the maneuver. Experimental results in overtaking and lane changing scenarios demonstrate the driver's ability to guide the system through sequences of maneuvers and the system's support of the driver via shared lateral and longitudinal control.
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