An Online Evolving Method For a Safe and Fast Automated Vehicle Control System
IEEE Transactions on Systems, Man, and Cybernetics: Systems(2022)
摘要
An online evolving method, named evolving finite state machine (e-FSM), is proposed to develop an optimal Markov driving model. The model has the same properties as a standard Markov model, but its states and transition dynamics evolve without human supervision. In this article, we introduce: 1) the principles of the e-FSM’s novel capabilities:
online state determination
and
online transition-dynamics identification
for elaborating the Markov driving model and 2) an advanced online evolving framework (a-OEF) for supporting the reinforcement-learning-based controller’s decision making by using the evolved model. For the evaluation of the proposed methodology and framework, the ego vehicle is controlled by the double deep
${Q}$
-network (DDQN) controller with and without the a-OEF in the multilane driving scenario where various naturalistic traffic situations are simulated. Simulation results show that better control performance in terms of
fast
and
safe
driving is achieved via the DDQN with the a-OEF, which demonstrates that the Markov driving models evolved by the e-FSMs effectively support detecting and revising the controller’s incorrect decision making.
更多查看译文
关键词
Automated vehicle (AV) control system,decision-making process,evolving Markov model,reinforcement learning (RL)
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要