Abstract Human‐machine cooperative control has become an important area of intelligent driving, where driver intention recognition and dynamic control authority allocation are key factors for improving the performance of cooperative decision‐making and control. In this paper, an online learning method is proposed for human‐machine cooperative control, which introduces a priority control parameter in the reward function to achieve optimal allocation of control authority under different driver intentions and driving safety conditions. Firstly, a two‐layer LSTM‐based sequence prediction algorithm is proposed to recognise the driver's lane change (LC) intention for human‐machine cooperative steering control. Secondly, an online reinforcement learning method is developed for optimising the steering authority to reduce driver workload and improve driving safety. The driver‐in‐the‐loop simulation results show that our method can accurately predict the driver's LC intention in cooperative driving and effectively compensate for the driver's non‐optimal driving actions. The experimental results on a real intelligent vehicle further demonstrate the online optimisation capability of the proposed RL‐based control authority allocation algorithm and its effectiveness in improving driving safety.

Yan Jiang

Yuyan Ding

Xinglong Zhang

Category	Quartile
计算机科学	2
计算机科学, 计算机人工智能	3

A self‐learning human‐machine cooperative control method based on driver intention recognition

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Journal Info

Category	Quartile
COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE	1