Towards autonomous navigation of unsignalized intersections under uncertainty of human driver intent

Volkan Sezer, Tirthankar Bandyopadhyay, Daniela Rus, Emilio Frazzoli, David Hsu

Araştırma sonucu: ???type-name???Konferans katkısıbilirkişi

52 Atıf (Scopus)

Özet

In a mixed environment of autonomous driverless vehicles and human driven vehicles operating on the same road, identifying intentions of human drivers and interacting with them in a compliant and responsible manner becomes a challenging problem for the driverless vehicles. In this paper, the problem of vehicle interaction at an intersection merging scenario is formulated as an Intention-Aware motion planning problem using the tools from Mixed Observability Markov Decision Process (MOMDP). We utilize the tools from recent intention aware planning framework to demonstrate a merging behavior in the presence of human drivers by trying to infer and act according to the intentions of the human drivers. A driver behavior model for T-junction intersections is developed in order to calculate the probabilistic state transition functions of the MOMDP model. With proposed solution, it is demonstrated that using intention aware planning improves performance in comparison to present time to merge approach by lowering accident probability and intersection navigation duration. The proposed method is tested on a real autonomous vehicle (AV) in the presence of human driven vehicles to validate our approach.

Orijinal dilİngilizce
Ana bilgisayar yayını başlığıIROS Hamburg 2015 - Conference Digest
Ana bilgisayar yayını alt yazısıIEEE/RSJ International Conference on Intelligent Robots and Systems
YayınlayanInstitute of Electrical and Electronics Engineers Inc.
Sayfalar3578-3585
Sayfa sayısı8
ISBN (Elektronik)9781479999941
DOI'lar
Yayın durumuYayınlandı - 11 Ara 2015
EtkinlikIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Süre: 28 Eyl 20152 Eki 2015

Yayın serisi

AdıIEEE International Conference on Intelligent Robots and Systems
Hacim2015-December
ISSN (Basılı)2153-0858
ISSN (Elektronik)2153-0866

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???event.eventtypes.event.conference???IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Ülke/BölgeGermany
ŞehirHamburg
Periyot28/09/152/10/15

Bibliyografik not

Publisher Copyright:
© 2015 IEEE.

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