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Keywords = autonomous driving in round intersections

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24 pages, 3596 KB  
Article
Autonomous Vehicle Decision-Making with Policy Prediction for Handling a Round Intersection
by Xinchen Li, Levent Guvenc and Bilin Aksun-Guvenc
Electronics 2023, 12(22), 4670; https://doi.org/10.3390/electronics12224670 - 16 Nov 2023
Cited by 4 | Viewed by 2624
Abstract
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 [...] Read more.
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. Full article
(This article belongs to the Special Issue Active Mobility: Innovations, Technologies, and Applications)
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25 pages, 3636 KB  
Article
Vehicle State Estimation and Prediction for Autonomous Driving in a Round Intersection
by Xinchen Li, Levent Guvenc and Bilin Aksun-Guvenc
Vehicles 2023, 5(4), 1328-1352; https://doi.org/10.3390/vehicles5040073 - 5 Oct 2023
Cited by 7 | Viewed by 5184
Abstract
This paper presents methods for vehicle state estimation and prediction for autonomous driving. A round intersection is chosen for application of the methods and to illustrate the results as autonomous vehicles have difficulty in handling round intersections. State estimation based on the unscented [...] Read more.
This paper presents methods for vehicle state estimation and prediction for autonomous driving. A round intersection is chosen for application of the methods and to illustrate the results as autonomous vehicles have difficulty in handling round intersections. State estimation based on the unscented Kalman filter (UKF) is presented in the paper and then applied to state estimation of vehicles in a round intersection. The microscopic traffic simulator SUMO (Simulation of Urban Mobility) is used to generate realistic traffic in the round intersection for the simulation experiments. Change point detection-based driving behavior prediction using a multipolicy approach is then introduced and evaluated for the round intersection. Finally, these methods are combined for vehicle trajectory estimation based on UKF and policy prediction and demonstrated using the round intersection. Full article
(This article belongs to the Special Issue Path Tracking for Automated Driving)
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