计算机科学 ›› 2024, Vol. 51 ›› Issue (9): 223-232.doi: 10.11896/jsjkx.230700131
闫鑫, 黄志球, 石帆, 徐恒
YAN Xin, HUANG Zhiqiu, SHI Fan, XU Heng
摘要： 自动驾驶对于减少交通堵塞、提高驾驶舒适性具有非常重要的作用,如何提高人们对自动驾驶技术的接受程度仍具有重要的研究意义。针对不同需求的人群定制不同的驾驶风格,可以帮助驾驶人理解自动驾驶行为,提高驾驶人的乘车体验,在一定程度上消除驾驶人对使用自动驾驶系统的心理抵抗性。通过分析自动驾驶场景下的跟车行为,提出基于PPO算法的不同驾驶风格的深度强化学习模型设计方案。首先分析德国高速公路车辆行驶数据集(HDD)中大量驾驶行为轨迹,根据跟车时距(THW)、跟车距离(DHW)、行车加速度以及跟车速度特征进行归类,提取激进型的驾驶风格和稳健型的驾驶风格的特征数据,以此为基础编码能够反映驾驶人风格的奖励函数,经过迭代学习生成不同驾驶风格的深度强化学习模型,并在highway env平台上进行道路模拟。实验结果表明,基于PPO算法的不同风格驾驶模型具有完成任务目标的能力,且与传统的智能驾驶模型(IDM)相比,能够在驾驶行为中准确反映出不同的驾驶风格。
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