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Interaction-Aware M...
Interaction-Aware Motion Planning for Autonomous Vehicles with Multi-Modal Obstacle Uncertainty Predictions
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- Zhou, Jian (författare)
- Linköping University
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- Olofsson, Björn (författare)
- Linköping University,Lund University,Lunds universitet,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,LTH profilområde: AI och digitalisering,LTH profilområden,LTH profilområde: Teknik för hälsa,LU profilområde: Naturlig och artificiell kognition,Lunds universitets profilområden,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH,LTH Profile Area: AI and Digitalization,LTH Profile areas,Faculty of Engineering, LTH,LTH Profile Area: Engineering Health,Faculty of Engineering, LTH,LU Profile Area: Natural and Artificial Cognition,Lund University Profile areas
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- Frisk, Erik (författare)
- Linköping University
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(creator_code:org_t)
- Engelska.
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Ingår i: IEEE Transactions on Intelligent Vehicles. - 2379-8858.
- Relaterad länk:
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https://arxiv.org/pd... (free)
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visa fler...
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http://dx.doi.org/10...
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https://lup.lub.lu.s...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- This paper proposes an interaction and safety-aware motion-planning method for an autonomous vehicle in uncertain multi-vehicle traffic environments. The method integrates the ability of the interaction-aware interacting multiple model Kalman filter (IAIMM-KF) to predict interactive multi-modal maneuvers of surrounding vehicles, and the advantage of model predictive control (MPC) in planning an optimal trajectory in uncertain dynamic environments. The multi-modal prediction uncertainties, containing both the maneuver and trajectory uncertainties of surrounding vehicles, are considered in computing the reference targets and designing the collision-avoidance constraints of MPC for resilient motion planning of the ego vehicle. The MPC achieves safety awareness by incorporating a tunable parameter to adjust the predicted obstacle occupancy in the design of the safety constraints, allowing the approach to achieve a trade-off between performance and robustness. Based on the prediction of the surrounding vehicles, an optimal reference trajectory of the ego vehicle is computed by MPC to follow the time-varying reference targets and avoid collisions with obstacles. The efficiency of the method is illustrated in challenging highway-driving simulation scenarios and a driving scenario from a recorded traffic dataset.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
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- ref (ämneskategori)
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