基于逆强化学习理论的自适应行车场景的拟人化避障轨迹规划研究

Jian Wu; Yang Yan; Yulong Liu; Yahui Liu

doi:10.1016/j.eng.2023.07.018

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工程（英文） ›› 2024, Vol. 33 ›› Issue (2) : 133-145. DOI: 10.1016/j.eng.2023.07.018

研究论文

Article

基于逆强化学习理论的自适应行车场景的拟人化避障轨迹规划研究

Jian Wu ^a ,
Yang Yan ^a ,
Yulong Liu ^b ,
Yahui Liu ^b^,^*

作者信息 +

Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based on Inverse Reinforcement Learning Theory

Jian Wu ^a ,
Yang Yan ^a ,
Yulong Liu ^b ,
Yahui Liu ^b^,^*

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History +

Abstract

The forward design of trajectory planning strategies requires preset trajectory optimization functions, resulting in poor adaptability of the strategy and an inability to accurately generate obstacle avoidance trajectories that conform to real driver behavior habits. In addition, owing to the strong time-varying dynamic characteristics of obstacle avoidance scenarios, it is necessary to design numerous trajectory optimization functions and adjust the corresponding parameters. Therefore, an anthropomorphic obstacle-avoidance trajectory planning strategy for adaptive driving scenarios is proposed. First, numerous expert-demonstrated trajectories are extracted from the HighD natural driving dataset. Subsequently, a trajectory expectation feature-matching algorithm is proposed that uses maximum entropy inverse reinforcement learning theory to learn the extracted expert-demonstrated trajectories and achieve automatic acquisition of the optimization function of the expert-demonstrated trajectory. Furthermore, a mapping model is constructed by combining the key driving scenario information that affects vehicle obstacle avoidance with the weight of the optimization function, and an anthropomorphic obstacle avoidance trajectory planning strategy for adaptive driving scenarios is proposed. Finally, the proposed strategy is verified based on real driving scenarios. The results show that the strategy can adjust the weight distribution of the trajectory optimization function in real time according to the “emergency degree” of obstacle avoidance and the state of the vehicle. Moreover, this strategy can generate anthropomorphic trajectories that are similar to expert-demonstrated trajectories, effectively improving the adaptability and acceptability of trajectories in driving scenarios.

Keywords

Obstacle avoidance trajectory planning / Inverse reinforcement theory / Anthropomorphic / Adaptive driving scenarios

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Jian Wu, Yang Yan, Yulong Liu. . Engineering. 2024, 33(2): 133-145 https://doi.org/10.1016/j.eng.2023.07.018

参考文献

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