Search from over 60,000 research works

Advanced Search

Motion planning of autonomous vehicles in a non-autonomous vehicle environment without speed lanes

Full text not archived in this repository.
Add to AnyAdd to TwitterAdd to FacebookAdd to LinkedinAdd to PinterestAdd to Email

Kala, R. and Warwick, K. (2013) Motion planning of autonomous vehicles in a non-autonomous vehicle environment without speed lanes. Engineering Applications of Artificial Intelligence, 26 (5-6). pp. 1588-1601. ISSN 0952-1976 doi: 10.1016/j.engappai.2013.02.001

Abstract/Summary

Planning is one of the key problems for autonomous vehicles operating in road scenarios. Present planning algorithms operate with the assumption that traffic is organised in predefined speed lanes, which makes it impossible to allow autonomous vehicles in countries with unorganised traffic. Unorganised traffic is though capable of higher traffic bandwidths when constituting vehicles vary in their speed capabilities and sizes. Diverse vehicles in an unorganised exhibit unique driving behaviours which are analysed in this paper by a simulation study. The aim of the work reported here is to create a planning algorithm for mixed traffic consisting of both autonomous and non-autonomous vehicles without any inter-vehicle communication. The awareness (e.g. vision) of every vehicle is restricted to nearby vehicles only and a straight infinite road is assumed for decision making regarding navigation in the presence of multiple vehicles. Exhibited behaviours include obstacle avoidance, overtaking, giving way for vehicles to overtake from behind, vehicle following, adjusting the lateral lane position and so on. A conflict of plans is a major issue which will almost certainly arise in the absence of inter-vehicle communication. Hence each vehicle needs to continuously track other vehicles and rectify plans whenever a collision seems likely. Further it is observed here that driver aggression plays a vital role in overall traffic dynamics, hence this has also been factored in accordingly. This work is hence a step forward towards achieving autonomous vehicles in unorganised traffic, while similar effort would be required for planning problems such as intersections, mergers, diversions and other modules like localisation.

Altmetric Badge

Item Type Article
URI https://reading-clone.eprints-hosting.org/id/eprint/32301
Item Type Article
Refereed Yes
Divisions Science
Uncontrolled Keywords Autonomous vehicles; Traffic simulation; Reactive planning; Behavioural planning; Decentralised planning; Intelligent vehicles
Download/View statistics View download statistics for this item

University Staff: Request a correction | Centaur Editors: Update this record

Search Google Scholar