智能汽车人机协同决策关键技术综述

Review on the Human-machine Collaborative Decision-making in Intelligent Vehicles

智能汽车人机协同决策是指驾驶人与驾驶自动化系统之间进行信息共享、交互和协同决策的过程,其对于提升智能汽车的安全性、舒适性和通行效率具有重要意义。针对人机协同决策技术在当下文献研究中碎片化且缺乏相关综述研究的现状,介绍了智能汽车人机协同决策技术的研究现状及未来的发展趋势。首先,基于对人机协同驾驶领域研究现状的梳理,从驾驶权限和人机交互2个维度对人机协同决策方法进行分类,前者包含以人为主、人机驾驶权限切换和以机为主的3种决策方式,后者包含人机直接交互和人机间接交互2种决策形式。进一步根据智驾系统中人机协同决策的层级差异,将人机协同决策技术分为人机协同行为决策、人机协同运动规划两大关键技术。前者可分为仲裁驾驶权限、协调驾驶意图和人类在环学习3类,后者可分为人机协同的路径规划和轨迹规划2类。最后,对智能汽车人机协同决策技术的发展趋势进行了总结与展望。通过梳理总结认为:智能汽车人机协同决策技术的发展不仅局限于决策层面,也依赖于上下游共同的技术进步,且多模态人机界面和深度强化学习等技术将成为其进一步发展的重要动力;未来,人机协同决策技术将依托新型决策意图传导技术与大语言模型步入新阶段。

Human-machine collaborative decision-making in intelligent vehicles refers to the process of information sharing,interaction,and collaborative decision-making between the driver and driving automation system.Therefore,it is necessary for enhancing the safety,comfort,and traffic efficiency of intelligent vehicles.Currently,studies on human-machine collaborative decision-making technology are fragmented,and relevant review studies are lacking.Therefore,this study primarily reviewed the current research status and future development trends of human-machine collaborative decision-making technology in intelligent vehicles.First,based on a review of the current research status in human-machine collaborative driving,human-machine collaborative decision-making methods are classified based on driving authority and human-machine interaction.The former includes three decision-making modes:human-centric,human-machine driving authority switching,and machine-centric.The latter comprises two decision-making forms:direct and indirect interactions between humans and machines.Furthermore,based on the hierarchical differences in human-machine collaborative decision-making within intelligent driving systems,human-machine collaborative decision-making technology is divided into two key domains:human-machine collaborative behavior planning and human-machine collaborative motion planning.The former encompasses technologies such as driving-authority arbitration,driving-intent coordination,and human-in-the-loop learning.The latter focuses on two categories of methods:path planning and trajectory planning within human-machine collaboration.Finally,a summary and outlook on the development trends of intelligent vehicle human-machine collaborative decision-making technology are presented.The development of intelligent vehicle human-machine collaborative decision-making technology is not limited to the decision-making level but also relies on common technological progress upstream and downstream,and technologies such as multimodal human-machine interface(HMI)and deep reinforcement learning will become crucial driving forces for its further development.In the future,human-machine collaborative decision-making technology will rely on new decision-making intention transmission technologies and large language models to take it to the next level.