Decision Making, Planning, and Control Strategies for Intelligent Vehicles (Synthesis Lectures on Advances in Automotive Technology)

Cover
Copyright page
Title page
Contents
Acknowledgments
Introduction
	Brief Introductions on Trajectory Planning for Intelligent Vehicles
		The Rapidly Exploring Random Tree (RRT) Method
		Intelligent Swarm Algorithm
	Brief Introductions on Trajectory Following Control
		Classical Transfer Function Model
		Single-Point Preview-Following Model
		Multi-Point Preview-Following Model
	Human-Automation Cooperative Driving
	Summary
Decision Making for Intelligent Vehicles
	Introduction
	Decision-Making Methods
		Finite State Machine for Decision Making
		Dynamic Game for Decision Making
		Imitation Learning for Decision Making
	Decision Making by Deep Q-Learning
		Markov Decision Process
		Deep Q-Network (DQN)
		Case Study
	Summary
Path and Speed Planning for Intelligent Vehicles
	Premiere
		Geometric Model of the Structured Road
		Harmonic Artificial Potential Function
		Natural Cubic Spline
	Path Planning with Elastic Bands
		Hazard Potential Construction
		Elastic Bands
		Solution of the Elastic Bands
	Optimal Path Planning with Natural Cubic Splines
		The Traveled Distance
		The Curvature
		Path Heading
		Path-Planning Solution for Specific Maneuvers
	Speed Planning Under the Non-Following Scenario
		Speed Planning by the Multi-Object Optimization Based on High-Order Polynomials
		Speed Planning by the Natural Cubic Spline and Convex Optimization
		Case Study
	Speed Planning in the Case of Car Following
	Conclusions
Robust Trajectory Tracking Methods for Intelligent Vehicles
	Longitudinal Velocity-Tracking Controller
	Robust SMC Steering Controller
	Trajectory Tracking by the Linearized Time-Varying MPC
		Nonlinear 5DOF Vehicle Model and Tire Model
		Model Linearization and Optimization
		Case Study
	Summary
Control Strategies for Human-Automation Cooperative Driving Systems
	Driving Intention Recognition
		Data Collecting Experiment and Processing
		Support Vector Machine
	Situation Assessment
		Driving Safety Field
	Game-Based Cooperative Driving Strategy
		Non-cooperative Nash Equilibrium
		Dynamic Authority Allocation Strategy
		Case Study
	Fuzzy-Based Cooperative Driving Strategy
		Framework Illustration
		Performance Index
		Driver\'s Driving Intention and Desired Maneuver
		Fuzzy-Based Strategy
	Summary
Bibliography
Authors\' Biographies