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2023 | OriginalPaper | Buchkapitel

Robust AI Driving Strategy for Autonomous Vehicles

verfasst von : Subramanya Nageshrao, Yousaf Rahman, Vladimir Ivanovic, Mrdjan Jankovic, Eric Tseng, Michael Hafner, Dimitar Filev

Erschienen in: AI-enabled Technologies for Autonomous and Connected Vehicles

Verlag: Springer International Publishing

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Abstract

There has been significant progress in sensing, perception, and localization for automated driving, However, due to the wide spectrum of traffic/road structure scenarios and the long tail distribution of human driver behavior, it has remained an open challenge for an intelligent vehicle to always know how to make and execute the best decision on road given available sensing/perception/localization information. In this chapter, we talk about how artificial intelligence and more specifically, reinforcement learning, can take advantage of operational knowledge and safety reflex to make strategical and tactical decisions. We discuss some challenging problems related to the robustness of reinforcement learning solutions and their implications to the practical design of driving strategies for autonomous vehicles. We focus on automated driving on highway and the integration of reinforcement learning, vehicle motion control, and control barrier function, leading to a robust AI driving strategy that can learn and adapt safely.

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Vorheriges Kapitel Future Technology and Research Trends in Automotive Sensing

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Range R is defined as the distance or gap between the ego and target vehicle, i.e., distance between the ego vehicle’s front bumper and target vehicle’s rear bumper.

Range rate \(\dot{R}\) is defined as relative speed between the ego and target vehicle.

Alternatively, the curvature can be computed based on the front wheel angle \(\delta \) as \(\kappa =\delta /(L+K_uV_x)\) where L is the vehicle wheelbase, and \(K_u\) is the vehicle understeer gradient in units of rad-s\(^2\)/m. The understeer gradient is defined as: \(K_u=m_f/C_f-m_r/C_r\) where \(m_f\) and \(m_r\) are the front and rear axle mass, \(C_f\) and \(C_r\) are the front and rear axle cornering coefficients.

For highway driving nominal value of \(a_1\le 5\,^{\circ }\) hence the error introduce by the small heading offset assumption is \(\le 1\%\).

Duration is defined as time required to reach path offset relative to the target lane center that is withing the range of nominal lane centering oscillations in range of 0.1–0.2 m. For nominal lane width of 3.4 m, this corresponds to approximately 5% of the lane width or the path offset at the lane change start.

For lane width of 3.4 m and lane change duration of 6 s, the limits are \(a_{y.max}=0.54\, {\text {m/s}}^2\) and \(j_{max}=0.94\, {\text {m/s}}^3\).

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Titel: Robust AI Driving Strategy for Autonomous Vehicles
verfasst von: Subramanya Nageshrao
Yousaf Rahman
Vladimir Ivanovic
Mrdjan Jankovic
Eric Tseng
Michael Hafner
Dimitar Filev
Verlag: Springer International Publishing
Buch: AI-enabled Technologies for Autonomous and Connected Vehicles
Print ISBN: 978-3-031-06779-2

Electronic ISBN: 978-3-031-06780-8

Copyright-Jahr: 2023
DOI: https://doi.org/10.1007/978-3-031-06780-8_7

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