关键词: RTRL, 驾驶员模型, 神经网络, 巡航

Abstract:

Most carcruising model could not give full consideration to the drivers behavior characteristic, this paper designed with realtime recursion learning (RTRL) algorithm of neural network as the core of the driver model of the cruise. This model chooses four parameters as inputs, including the speed and acceleration of preceding vehicle, the following vehicle speed and the safety distance between two vehicles, meanwhile, the desired acceleration which driver controls cruise car is chosen as the output of model. Through cruise experiments under real environment, data samples used for training RTRL neural network are obtained, the model is verified by simulation. Simulation experimental results show that the predictive value of expected acceleration is consistent with the actual true value, error is controlled within 0.05 , it also shows that the model can accurately simulate the behavior of the drivercruising.

Key words: RTRL；driver model；neural network；cruise