An Evolutionary Approach to General-Purpose Automated Speed and Lane Change Behavior

• This paper introduces a method for automatically training a general-purpose driver model, applied to the case of a truck-trailer combination. A genetic algorithm is used to optimize a structure of rules and actions, and their parameters, to achieve the desired driving behavior. The training is carried out in a simulated environment, using a two-stage process. The method is then applied to a highway driving case, where it is shown that it generates a model that matches or surpasses the performance of a commonly used reference model. Furthermore, the generality of the model is demonstrated by applying it to an overtaking situation on a rural road with oncoming traffic.

Ämnesord

NATURVETENSKAP  -- Data- och informationsvetenskap -- Annan data- och informationsvetenskap (hsv//swe)

NATURAL SCIENCES  -- Computer and Information Sciences -- Other Computer and Information Science (hsv//eng)

TEKNIK OCH TEKNOLOGIER  -- Maskinteknik -- Farkostteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Mechanical Engineering -- Vehicle Engineering (hsv//eng)

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