有级转向履带车辆的驾驶员操控行为模型

doi:10.3969/j.issn.1000-1093.2020.12.002

摘要/Abstract

摘要： 为解决有级转向履带车辆驾驶员操控经验的表征问题，以采集得到的大量真实驾驶数据为依托，提出一种基于操控基元序列的驾驶员操控行为表征模型。操控基元以高斯混合模型表征，并以有向图的形式完成驾驶员操控基元切换序列的提取与类别辨识；依据不同类别的操控基元序列辨识结果完成了对驾驶数据的重分组，利用隐马尔可夫-高斯混合模型完成每一个类别下的驾驶员操控行为模型训练。结果表明：所提取出的操控基元序列既能完成对驾驶员转向操控基元切换行为的表征，又能实现对轨迹基元类别的合理划分；在给定期望轨迹所对应的预测时域内，驾驶员操控行为模型能够实现特定条件下的驾驶员转向操控量预测，预测平均偏差在4.2%以内。

关键词: 履带车辆, 驾驶员模型, 操控基元序列, 隐马尔可夫-高斯混合模型

Abstract: For the representation of driving skills at the control level of tracked vehicle with stepped steering mechanism, a driver control behavior model based on control primitive sequence is proposed by utilizing a large amount of collected real driving data. The control primitives are characterized by Gaussian mixture models, and the digraph is applied to complete the extraction and category identification of the driver control primitives sequence. According to the recognition results of different types of control primitive sequence, the driving data is regrouped, and the hidden Markov model-Gaussian mixture model is used to train the driver control behavior model for each type of sequence. The results show that the extracted control primitive sequence can not only represent the driver's steering control primitives switching behavior, but also realize the reasonable division of the trajectory primitive types. Within the predicted time domain corresponding to a given desired trajectory, the proposed model can predict driver control behavior with an average deviation of 4.2% under certain conditions.

Key words: trackedvehicle, drivermodel, controlprimitivesequence, hiddenMarkovmodel-Gaussianmixturemodel

中图分类号:

TJ810.2

王博洋，龚建伟，熊光明，张瑞增，陈慧岩，席军强. 有级转向履带车辆的驾驶员操控行为模型[J]. 兵工学报, 2020, 41(12): 2379-2388.

WANG Boyang, GONG Jianwei, XIONG Guangming, ZHANG Ruizeng, CHEN Huiyan, XI Junqiang. Driver Control Behavior Model for Tracked Vehicle with Stepped Steering Mechanism[J]. Acta Armamentarii, 2020, 41(12): 2379-2388.

参考文献

［1］闫清东，张连第，赵毓芹，等. 坦克构造与设计[M]. 北京：北京理工大学出版社，2007.
YAN Q D, ZHANG L D, ZHAO Y Q, et al. Structure and design of tank[M]. Beijing: Beijing Institute of Technology Press, 2007.(in Chinese)
[2］王博洋，龚建伟，高天云,等. 基于高斯混合-隐马尔可夫模型的速差转向履带车辆横向控制驾驶员模型[J]. 兵工学报, 2017, 38(12): 2301-2308.
WANG B Y, GONG J W, GAO T Y, et al. Steering control driver model of skid steering vehicle based on Gaussian mixture model-hidden Markov model[J]. Acta Armamentarii, 2017, 38(12): 2301-2308. (in Chinese)
[3］王博洋, 龚建伟, 高天云,等. 基于双层驾驶员模型的履带车辆纵向与横向协同跟踪控制方法[J]. 兵工学报, 2018, 39(9): 1675-1682.
WANG B Y, GONG J W, GAO T Y, et al. Longitudinal and la-teral path following coordinate control method of tracked vehicle based on double-layer driver model[J]. Acta Armamentarii, 2018, 39(9): 1675-1682. (in Chinese)
[4］胡家铭, 胡宇辉, 陈慧岩, 等. 基于模型预测控制的无人驾驶履带车辆轨迹跟踪方法研究[J]. 兵工学报, 2019, 40(3): 456-463.
HU J M, HU Y H, CHEN H Y, et al. Research on trajectory tracking of unmanned tracked vehicles based on model predictive control[J]. Acta Armamentarii, 2019, 40(3): 456-463. (in Chinese)
[5］ ARGALL B D, CHERNOVA S, VELOSO M, et al. A survey of robot learning from demonstration[J]. Robotics and Autonomous Systems, 2009, 57(5): 469-483.
[6］ WANG B, LI Z, GONG J, et al. Learning and generalizing motion primitives from driving data for path-tracking applications[C]∥Proceedings of 2018 IEEE Intelligent Vehicles Symposium. Changshu, China: IEEE, 2018: 1191-1196.
[7］ WANG B, GONG J, ZHANG R, et al. Learning to segment and represent motion primitives from driving data for motion planning applications[C]∥Proceedings of the 21st International Conference on Intelligent Transportation Systems. Maui, HI, US: IEEE, 2018: 1408-1414.
[8］ KULIC D, OTT C, LEE D, et al. Incremental learning of full body motion primitives and their sequencing through human motion observation[J]. The International Journal of Robotics Research, 2012, 31(3): 330-345.
[9］ MANSCHITZ S, KOBER J, GIENGER M, et al. Learning to sequence movement primitives from demonstrations[C]∥Proceedings of 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems. Chicago, IL, US :IEEE, 2014: 4414-4421.
[10］胡云峰, 曲婷, 刘俊, 等. 智能汽车人机协同控制的研究现状与展望[J]. 自动化学报, 2019, 45(7): 1261-1280.
HU Y F, QU T, LIU J, et al. Human-machine cooperative control of intelligent vehicle: recent developments and future perspectives[J]. Acta Automatica Sinica, 2019, 45(7): 1261-1280.(in Chinese)
[11］ KAPLAN S, GUVENSAN M A, YAVUZ A G, et al. Driver behavior analysis for safe driving: a survey[J]. IEEE Transactions on Intelligent Transportation Systems, 2015, 16(6): 3017-3032.
[12］ YI D, SU J, LIU C, et al. Trajectory clustering aided persona-lized driver intention prediction for intelligent vehicles[J]. IEEE Transactions on Industrial Informatics, 2019,15(6):3693-3702.
[13］ TANIGUCHI T, NAGASAKA S, HITORNI K, et al. Sequence prediction of driving behavior using double articulation analyzer[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2016, 46(9): 1300-1313.
[14］ HAMADA R, KUBO T, IKEDA K, et al. Modeling and prediction of driving behaviors using a nonparametric Bayesian method with AR models[J]. IEEE Transactions on Intelligent Vehicles, 2016, 1(2): 131-138.

[1]	张伟，刘辉，韩立金，刘宝帅，张勋，张万年. 混合动力履带车辆机电联合制动控制[J]. 兵工学报, 2022, 43(5): 969-981.
[2]	王博洋, 关海杰, 龚建伟, 陈慧岩, 赵卉菁. 面向异构履带车辆的统一运动规划方法[J]. 兵工学报, 2022, 43(2): 241-251.
[3]	徐保荣, 王涛, 梁梓. 基于操纵动作预测的履带车辆载荷谱编制方法与流程[J]. 兵工学报, 2022, 43(2): 252-259.
[4]	杜明刚，张金乐，张喜明，孙亚东，毛飞鸿. 履带装甲车辆空气阻力系数试验测定[J]. 兵工学报, 2021, 42(7): 1564-1568.
[5]	李睿，项昌乐，王超，范晶晶，刘春林. 自动驾驶履带车辆鲁棒自适应轨迹跟踪控制方法[J]. 兵工学报, 2021, 42(6): 1128-1137.
[6]	张杰，马晓军，刘春光，袁东，张运银. 双侧独立电驱动履带车辆反馈线性化解耦与预测行驶控制[J]. 兵工学报, 2021, 42(4): 697-705.
[7]	李春明, 吴维, 郭智蔷, 苑士华, 陈思. 履带车辆纵向与垂向耦合动力学模型及功率特性[J]. 兵工学报, 2021, 42(3): 449-458.
[8]	赵屹东, 陈慧岩, 胡家铭. 双侧独立电驱动履带车辆自动机械变速器线控换挡控制方法[J]. 兵工学报, 2021, 42(3): 459-467.
[9]	盖江涛，刘春生，马长军，沈宏继. 考虑履带滑转滑移的电驱动履带车辆转向控制[J]. 兵工学报, 2021, 42(10): 2092-2101.
[10]	邹渊，张彬，张旭东，赵志颖，康铁宇，郭玉枫，吴喆. 基于归一化优势函数的强化学习混合动力履带车辆能量管理[J]. 兵工学报, 2021, 42(10): 2159-2169.
[11]	马田，王志涛，张欣，庞大千，高晓宇. 履带车辆电传动系统减速机构热特性[J]. 兵工学报, 2021, 42(10): 2170-2179.
[12]	盖江涛，生辉，周广明，刘丽芳. 串联式混合动力履带车辆急加速工况功率平衡控制策略[J]. 兵工学报, 2021, 42(10): 2180-2188.
[13]	曾根，王伟达，盖江涛，马长军，李训明，李欢欢. 双侧电机耦合驱动履带车辆斜坡转向控制策略[J]. 兵工学报, 2021, 42(10): 2189-2195.
[14]	邹天刚，闫清东，盖江涛，侯威，王志涛，帅志斌，孙雪岩. 基于扁平电机的轻混式履带车辆综合传动方案[J]. 兵工学报, 2021, 42(10): 2233-2241.
[15]	张瑞增，龚建伟，陈慧岩，王博洋，刘海鸥. 基于无人驾驶单流传动的中型履带车辆大坡道起步控制[J]. 兵工学报, 2020, 41(8): 1590-1599.