Zhou C, Zhang F, Nacpil EJC, Wang Z, Xu FX. Driver Steering Intention Prediction for Human-Machine Shared Systems of Intelligent Vehicles Based on CNN-GRU Network.
SENSORS (BASEL, SWITZERLAND) 2025;
25:3224. [PMID:
40432016 PMCID:
PMC12115421 DOI:
10.3390/s25103224]
[Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 03/31/2025] [Revised: 05/15/2025] [Accepted: 05/19/2025] [Indexed: 05/29/2025]
Abstract
In order to mitigate human-machine conflicts and optimize shared control strategy in advance, it is essential for the shared control system to understand and predict driver behavior. This paper proposes a method for predicting driver steering intention with a CNN-GRU hybrid machine learning model. The convolutional neural network (CNN) layer extracts features from the stochastic driver behavior, which is input to the gated-recurrent-unit (GRU) layer. And the driver's steering intention is forecasted based on the GRU model. Our study was conducted using a driving simulator to observe the lateral control behaviors of 18 participants in four different driving circumstances. Finally, the efficiency of the suggested prediction approach was evaluated employing long-short-term-memory, GRU, CNN, Transformer, and back propagation networks. Experimental results demonstrated that the proposed CNN-GRU model performs significantly better than baseline models. Compared with the GRU network, the CNN-GRU network reduced the RMSE, MAE, and MAPE of the driver's input torque by 33.22%, 32.33%, and 35.86%, respectively. The proposed prediction method also possesses adaptability to different driver behaviors.
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