自动驾驶的类人决策和控制

通过阅读本书，读者可以：
掌握类人驾驶行为的特征识别与表示方法，包括如何从复杂交通场景中提取和建模类人驾驶特征，为自动驾驶框架提供理论基础。
掌握设计自动驾驶汽车决策和控制算法，涵盖各种复杂交通场景下的算法实现，如安全性、乘坐舒适性和行驶效率等多目标优化模型。
掌握构建类人自动驾驶框架的核心要素，包括驾驶特征识别、系统模型构建（如安全性、舒适性和效率的平衡），以及如何将该框架应用于实际决策系统以提升自动化水平。
掌握最新的类人自动驾驶研究进展和实用案例，包括博弈论建模的实例、决策与控制理论的前沿技术，为车辆工程、控制工程和交通工程等领域的专业研究提供参考依据。

本书运用博弈论方法描述了最新的类人驾驶技术，涵盖了类人驾驶行为的特征识别和建模，以及在各种复杂交通场景中对自动驾驶汽车进行决策和控制的算法设计等内容。首先对自动驾驶汽车的类人驾驶研究现状进行了概述。接着，提出了类人自动驾驶框架，其中介绍了类人驾驶特征识别和表示。在介绍类人算法设计之前，构建了一些有关决策和控制的系统模型，包括驾驶安全性、乘坐舒适性、行驶效率等。本书能够帮助读者更好地理解类人驾驶框架如何在人机混合驾驶环境中为自动驾驶车辆的决策系统提供有力支撑。

译者序<br />前言<br />第 1章 概述·····································1 <br />1.1 类人自动驾驶概述 ···················· 1 <br />1.2 自动驾驶汽车的类人决策 ··········· 1 <br />1.2.1 基于模型的类人决策 ·······2 <br />1.2.2 数据驱动的类人决策 ·······4 <br />1.2.3 基于博弈论的类人决策 ······5 <br />1.3 自动驾驶汽车的运动预测、规划和控制 ··································· 7 <br />1.3.1 运动预测 ······················7 <br />1.3.2 运动规划 ······················9 <br />1.3.3 运动控制···················· 11 <br />1.4 采用博弈论方法的自动驾驶类人决策和控制框架 ······················ 14<br />第2章 类人驾驶特征识别和表示··································· 16 <br />2.1 背景 ····································· 16 <br />2.2 驾驶风格分类和识别 ················ 17 <br />2.2.1 驾驶风格分类 ·············· 17 <br />2.2.2 驾驶风格识别 ·············· 18 <br />2.2.3 类人驾驶不同驾驶风格的特征分析 ················· 20<br />2.3驾驶攻击性 ···························· 21 <br />2.3.1 驾驶攻击性的定义 ········ 21 <br />2.3.2 驾驶攻击性的评估方法·························· 21 <br />2.3.3 类人驾驶攻击性评估模型·························· 23<br />2.4 结论 ····································· 25<br />第3章 自动驾驶汽车决策和控制的系统建模 ························ 26<br />3.1 背景 ····································· 26<br />3.2 用于决策和控制的车辆模型 ······ 27 <br />3.2.1 车辆运动学模型 ··········· 27 <br />3.2.2 车辆动力学模型 ··········· 29<br />3.3 驾驶员模型 ···························· 32<br />3.4 类人驾驶综合模型 ··················· 33<br />3.5 结论 ····································· 34 <br />第4章 自动驾驶汽车的运动规划和跟踪控制 ························ 35<br />4.1 背景 ····································· 35 <br />4.2 高速公路上自动驾驶汽车的类人轨迹规划 ······························· 36　<br />4.2.1 人工势场模型 ·············· 36<br />4.2.2 考虑障碍车辆不同社会行为的轨迹规划 ··········· 38<br />4.2.3 考虑轨迹预测的 APF轨迹规划···················· 39 <br />4.2.4 仿真和讨论 ················· 40 <br />4.2.5 小结·························· 46<br />4.3 非结构化道路上的自动驾驶汽车路径规划 ······························· 46　<br />4.3.1 问题描述···················· 47<br />4.3.2 静态障碍物的路径规划·························· 47 <br />4.3.3 移动障碍物的路径规划·························· 52　<br />4.3.4 仿真和验证 ················· 54 <br />4.3.5 小结·························· 58 <br />4.4 自动驾驶汽车的路径跟踪····································· 58<br />4.4.1 路径跟踪控制的线性化和离散化模型 ·············· 59 <br />4.4.2 集成控制器设计 ··········· 60<br />4.4.3 仿真和分析 ················· 66 <br />4.4.4 小结·························· 71　<br />4.5 结论 ····································· 71<br />第5章 基于非合作博弈论方法的自动驾驶汽车类人决策······· 73 <br />5.1 背景 ····································· 73 <br />5.2 自动驾驶汽车的类人变道 ········· 74<br />5.2.1 问题描述与类人决策框架·························· 74　<br />5.2.2 基于非合作博弈论的类人决策···················· 76 <br />5.2.3 测试结果及性能评估 ····· 80<br />5.2.4 小结·························· 86 <br />5.3 自动驾驶汽车在无信号灯环岛的类人决策······························· 87 <br />5.3.1 问题描述与系统框架 ····· 87<br />5.3.2 自动驾驶汽车决策的运动预测···················· 90　<br />5.3.3 基于博弈论方法的决策算法设计···················· 92 <br />5.3.4 测试结果与分析 ··········· 97<br />5.3.5 小结·························106 <br />5.4 结论 ··································· 106 <br />第6章 基于合作博弈论方法的自动控制驾驶汽车类人决策 ·············108 <br />6.1 背景 ··································· 108<br />6.2 高速公路上自动驾驶汽车的协同变道与并线 ···················· 109　<br />6.2.1 问题描述与系统框架 ·····109 <br />6.2.2 自动驾驶汽车的运动预测························· 111 <br />6.2.3 基于联盟博弈论方法的决策·························113 <br />6.2.4 测试、验证与讨论 ·······122 <br />6.2.5 小结·························130 <br />6.3 无信号灯环岛处自动驾驶汽车的协同决策 ·························· 130 <br />6.3.1 基于合作博弈论的决策·························131 <br />6.3.2 测试结果与分析 ··········132 <br />6.3.3 小结·························141 <br />6.4 结论 ··································· 141<br />第7章 结论、讨论和展望 ·············143 <br />7.1 自动驾驶汽车的类人建模 ········ 143 <br />7.2 类人决策算法 ······················· 144 <br />7.3 考虑个性化驾驶的协同决策 ···· 145<br />参考文献 ·········································146