Title :
Recursive conflict resolution for cooperative motion planning in dynamic highway traffic
Author :
Schwarting, Wilko ; Pascheka, Patrick
Author_Institution :
Volkswagen Group Res., Wolfsburg, Germany
Abstract :
Automated driving with human-like driving behavior requires the capability of cooperative decision making. In this paper, we present a novel method of cooperative decision making in dynamic and structured environments such as highways. Other motorists´ intentions are deduced and integrated into a planning framework that allows for reasonable cooperative decision making without the need of inter-vehicle communication. Therefore, and to reduce computational complexity, we assume that following vehicles´ actions are dominated by their predecessors and use the assumption to formulate a recursive conflict resolution algorithm. Results from simulations and real-world experiments show the functionality of the presented approach.
Keywords :
behavioural sciences; computational complexity; decision making; path planning; road traffic; road vehicles; automated driving; computational complexity; cooperative decision making; cooperative motion planning; dynamic environments; dynamic highway traffic; human-like driving behavior; motorists intentions; planning framework; recursive conflict resolution; structured environments; vehicles actions; Acceleration; Decision making; Merging; Planning; Road transportation; Trajectory; Vehicles;
Conference_Titel :
Intelligent Transportation Systems (ITSC), 2014 IEEE 17th International Conference on
Conference_Location :
Qingdao
DOI :
10.1109/ITSC.2014.6957825