正版新书]自动驾驶的类人决策和控制杭鹏(Peng Hang),吕辰(C

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

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。