Paper Info
Title
A probabilistic approach to planning and control in autonomous urban driving
Abstract
This paper considers the problem of decision making and control for autonomous urban vehicles operating among other non-cooperating, possibly human controlled, vehicles. The difficulty in this problem stems from the fact that the behavior of the other vehicles is uncertain, and in many circumstances a collision cannot be prevented even under restrictive assumptions about the other drivers' actions. Traditional approaches that consider the worst-case actions of the other vehicles typically are inapplicable because the solutions are either too conservative or infeasible. This work proposes a new method for solving this problem using a chance constrained framework, which requires that the violation probability of all the constraints is guaranteed to be below a threshold. This formulation has the benefit of not only achieving traditional objectives such as minimization of fuel or travel time, but also hedges the nominal planned maneuver against potential crashes leading from the uncertainty in the other drivers' actions. The proposed framework is demonstrated on a passing maneuver example which exhibits a region where the passing vehicle cannot be guaranteed to prevent a collision in all circumstances.
Year
DOI
Venue
2013
10.1109/CDC.2013.6760249
Decision and Control
Keywords
Field
DocType
decision making,motion control,probability,remotely operated vehicles,road accidents,road safety,road traffic control,road vehicles,autonomous urban driving control,autonomous urban driving planning,autonomous urban vehicles,chance constrained framework,collision,crashes,decision making,driver actions,fuel minimization,nominal planned maneuver,passing maneuver,passing vehicle,probabilistic approach,travel time,vehicle behavior,vehicle worst-case actions,violation probability
Remotely operated underwater vehicle,Motion control,Mathematical optimization,Road traffic control,Computer science,Collision,Minification,Hedge (finance),Probabilistic logic,Travel time
Conference
ISSN
ISBN
Citations 
0743-1546
978-1-4673-5714-2
11
PageRank 
References 
Authors
0.66
5
2
Name
Order
Citations
PageRank
Michael P. Vitus126420.08
Claire J. Tomlin21491158.05