A Curvilinear Decision Method for Two-lane Roundabout Crossing and its Validation under Realistic Traffic Flow

Masi, Stefano; Xu, Philippe

doi:10.1109/iv47402.2020.9304619

Cited by 8 publications

(3 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…SUMO was used in [34] for a gap acceptance analysis for round intersections. SUMO was also used in [35] for centralized intersection management at an intersection, curvilinear decision-making for a two-lane round intersection in [36] and cooperative perception analysis in a round intersection in [37]. In accordance with these references, SUMO is used for microscopic traffic simulation in the two-vehicle and multiple-vehicle simulations of this paper.…”

Section: Related Workmentioning

confidence: 98%

Autonomous Vehicle Decision Making with Policy Prediction for Handling a Round Intersection

Li,

Guvenc,

Aksun-Guvenc

2023

Preprint

View full text Add to dashboard Cite

Autonomous shuttles have been used as end mile solutions for smart mobility in smart cities. The urban driving conditions of smart cities with many other actors sharing the road and the presence of intersections have posed challenges to the use of autonomous shuttles. Round intersections are more challenging as it is more difficult to perceive the other vehicles in and near the intersection. Thus, this paper focuses on decision making of autonomous vehicles for handling round intersections. The round intersection is introduced first, followed by introductions of the Markov Decision Process (MDP), the Partially Observable Markov Decision Process (POMDP) and the Object Oriented Partially Observable Markov Decision Process (OOPOMDP) which are used for decision making with uncertain knowledge of the motion of the other vehicles. The Partially Observable Monte-Carlo Planning (POMCP) algorithm is used as the solution method and OOPOMDP is applied to decision making for autonomous vehicles in round intersections. Decision making is formulated first as a POMDP problem, and the penalty function is formulated and set accordingly. This is followed by improvement of decision making with policy prediction. Augmented objective state and policy-based state transition are introduced and simulations are used to demonstrate the effectiveness of the proposed method for collision free handling of round intersections by the ego vehicle.

show abstract

Section: Related Workmentioning

confidence: 98%

Autonomous Vehicle Decision Making with Policy Prediction for Handling a Round Intersection

Li,

Guvenc,

Aksun-Guvenc

2023

Preprint

View full text Add to dashboard Cite

show abstract

Section: Related Workmentioning

confidence: 98%

Autonomous Vehicle Decision-Making with Policy Prediction for Handling a Round Intersection

Li,

Guvenc,

Aksun-Guvenc

2023

Electronics

View full text Add to dashboard Cite

Autonomous shuttles have been used as end-mile solutions for smart mobility in smart cities. The urban driving conditions of smart cities with many other actors sharing the road and the presence of intersections have posed challenges to the use of autonomous shuttles. Round intersections are more challenging because it is more difficult to perceive the other vehicles in and near the intersection. Thus, this paper focuses on the decision-making of autonomous vehicles for handling round intersections. The round intersection is introduced first, followed by introductions of the Markov Decision Process (MDP), the Partially Observable Markov Decision Process (POMDP) and the Object-Oriented Partially Observable Markov Decision Process (OOPOMDP), which are used for decision-making with uncertain knowledge of the motion of the other vehicles. The Partially Observable Monte-Carlo Planning (POMCP) algorithm is used as the solution method and OOPOMDP is applied to the decision-making of autonomous vehicles in round intersections. Decision-making is formulated first as a POMDP problem, and the penalty function is formulated and set accordingly. This is followed by an improvement in decision-making with policy prediction. Augmented objective state and policy-based state transition are introduced, and simulations are used to demonstrate the effectiveness of the proposed method for collision-free handling of round intersections by the ego vehicle.

show abstract

“…Gaussian process (GP) is a stochastic process, for which the joint distribution of every finite collection of random variables follows a multivariate Gaussian distribution. A GP is characterized by its mean function m(s) and covariance function k(s, s ) (kernel), as show in (10).…”

Section: Fmc(smentioning

confidence: 99%

Comprehensive Safety Evaluation of Highly Automated Vehicles at the Roundabout Scenario

Wang

Zhang

Peng

2022

IEEE Trans. Intell. Transport. Syst.

View full text Add to dashboard Cite

A highly automated vehicle (HAV) is a safety-critical system. Therefore, a verification and validation (V&V) process that rigorously evaluates the safety of HAVs is necessary before their release to the market. In this paper, we propose an interaction-aware safety evaluation framework for the HAV and apply it to the roundabout entering, a highly interactive driving scenario with various traffic situations. Instead of assuming that the primary other vehicles (POVs) take predetermined maneuvers, we model the POVs as game-theoretic agents. To capture a wide variety of interactions between the POVs and the vehicle under test (VUT), we use level-k game theory and social value orientation to characterize the interactive behaviors and train a diverse library of POVs using reinforcement learning. The game-theoretic library, together with initial conditions, form a rich testing space for the two-POV roundabout scenario. On the other hand, we propose an adaptive test case generation scheme based on adaptive sampling and stochastic optimization to efficiently generate customized challenging cases for the VUT from the testing space. In simulations, the proposed testing space design captured a wide range of interactive situations at the roundabout scenario. The proposed test case generation scheme was found to cover the failure modes of the VUT more effectively compared to other test case generation approaches.

show abstract

A Curvilinear Decision Method for Two-lane Roundabout Crossing and its Validation under Realistic Traffic Flow

Cited by 8 publications

References 23 publications

Autonomous Vehicle Decision Making with Policy Prediction for Handling a Round Intersection

Autonomous Vehicle Decision Making with Policy Prediction for Handling a Round Intersection

Autonomous Vehicle Decision-Making with Policy Prediction for Handling a Round Intersection

Comprehensive Safety Evaluation of Highly Automated Vehicles at the Roundabout Scenario

Contact Info

Product

Resources

About