Probability-based decision making for automated highway driving

Author

Niehaus, Axel ; Stengel, Robert F.

Author_Institution

Dept. of Mech. & Aerosp. Eng., Princeton Univ., NJ, USA

Volume

43

Issue

3

fYear

1994

fDate

8/1/1994 12:00:00 AM

Firstpage

626

Lastpage

634

Abstract

Real-time, rule-based guidance systems for autonomous vehicles on limited-access highways are investigated. The goal of these systems is to plan trajectories that are safe, while satisfying the driver´s requests based on stochastic information about the vehicle state and the surrounding traffic. A rule-based system is used for high-level planning. Given a stochastic model of the traffic situation driven by current measurements, the probable evolution of traffic and the best trajectory to follow are predicted. Simulation results assess the impact of uncertain knowledge of traffic on the performance of the guidance system, showing that uncertainty can and must be taken into account

Keywords

automatic guided vehicles; automotive electronics; decision support systems; intelligent control; planning (artificial intelligence); probability; road traffic; road vehicles; automated highway driving; autonomous vehicles; guidance system performance; high-level planning; limited-access highways; probability-based decision making; rule-based guidance systems; simulation results; stochastic information; surrounding traffic; uncertain knowledge; vehicle state; Automated highways; Decision making; Mobile robots; Navigation; Real time systems; Remotely operated vehicles; Road vehicles; Stochastic systems; Traffic control; Trajectory;

fLanguage

English

Journal_Title

Vehicular Technology, IEEE Transactions on

Publisher

ieee

ISSN

0018-9545

Type

jour

DOI

10.1109/25.312814

Filename

312814