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Brain-like Intelligent Decision-making Based on Basal Ganglia and Its Application in Automatic Car-following

Journal of Bionic Engineering 2021年第6期18卷 1439-1451页

作者： Tianjun Sun Zhenhai Gao Zhiyong Chang Kehan Zhao State Key Laboratory of Automotive Simulation and Control Jilin UniversityChangchun130022China College of Automotive Engineering Jilin UniversityChangchun130022China College of Biological and Agricultural Engineering Jilin UniversityChangchun130022China College of Materials Science and Engineering Jilin UniversityChangchun130022China

The anthropomorphic intelligence of autonomous driving has been a research hotspot in the ***,current studies have not been able to reveal the mechanism of drivers'natural driving ***,this thesis starts from the perspective of cognitive decision-making in the human brain,which is inspired by the regulation of dopamine feedback in the basal ganglia,and a reinforcement learning model is established to solve the brain-like intelligent decision-making problems in the process of interacting with the *** this thesis,first,a detailed bionic mechanism architecture based on basal ganglia was proposed by the consideration and analysis of its feedback regulation mechanism;second,the above mechanism was transformed into a reinforcement Q-learning model,so as to implement the learning and adaptation abilities of an intelligent vehicle for brain-like intelligent decision-making during car-following;finally,the feasibility and effectiveness of the proposed method were verified by the simulations and real vehicle tests.

关键词： Brain-like intelligent decision-making Dopamine in basal ganglia Reinforcement learning longitudinal autonomous driving

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