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Intention-Aware Autonomous Driving Decision-Making in an Uncontrolled Intersection
المؤلفون المشاركون
Chen, Huiyan
Song, Weilong
Xiong, Guangming
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2016، العدد 2016 (31 ديسمبر/كانون الأول 2016)، ص ص. 1-15، 15ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2016-05-03
دولة النشر
مصر
عدد الصفحات
15
التخصصات الرئيسية
الملخص EN
Autonomous vehicles need to perform social accepted behaviors in complex urban scenarios including human-driven vehicles with uncertain intentions.
This leads to many difficult decision-making problems, such as deciding a lane change maneuver and generating policies to pass through intersections.
In this paper, we propose an intention-aware decision-making algorithm to solve this challenging problem in an uncontrolled intersection scenario.
In order to consider uncertain intentions, we first develop a continuous hidden Markov model to predict both the high-level motion intention (e.g., turn right, turn left, and go straight) and the low level interaction intentions (e.g., yield status for related vehicles).
Then a partially observable Markov decision process (POMDP) is built to model the general decision-making framework.
Due to the difficulty in solving POMDP, we use proper assumptions and approximations to simplify this problem.
A human-like policy generation mechanism is used to generate the possible candidates.
Human-driven vehicles’ future motion model is proposed to be applied in state transition process and the intention is updated during each prediction time step.
The reward function, which considers the driving safety, traffic laws, time efficiency, and so forth, is designed to calculate the optimal policy.
Finally, our method is evaluated in simulation with PreScan software and a driving simulator.
The experiments show that our method could lead autonomous vehicle to pass through uncontrolled intersections safely and efficiently.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Song, Weilong& Xiong, Guangming& Chen, Huiyan. 2016. Intention-Aware Autonomous Driving Decision-Making in an Uncontrolled Intersection. Mathematical Problems in Engineering،Vol. 2016, no. 2016, pp.1-15.
https://search.emarefa.net/detail/BIM-1111685
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Song, Weilong…[et al.]. Intention-Aware Autonomous Driving Decision-Making in an Uncontrolled Intersection. Mathematical Problems in Engineering No. 2016 (2016), pp.1-15.
https://search.emarefa.net/detail/BIM-1111685
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Song, Weilong& Xiong, Guangming& Chen, Huiyan. Intention-Aware Autonomous Driving Decision-Making in an Uncontrolled Intersection. Mathematical Problems in Engineering. 2016. Vol. 2016, no. 2016, pp.1-15.
https://search.emarefa.net/detail/BIM-1111685
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1111685
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
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