TY - GEN
T1 - Autonomous Driving at Intersections
T2 - 23rd IEEE International Conference on Intelligent Transportation Systems, ITSC 2020
AU - Shu, Keqi
AU - Yu, Huilong
AU - Chen, Xingxin
AU - Chen, Long
AU - Wang, Qi
AU - Li, Li
AU - Cao, Dongpu
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/9/20
Y1 - 2020/9/20
N2 - Left-turn planning is one of the formidable challenges for autonomous vehicles, especially at unsignalized intersections due to the unknown intentions of oncoming vehicles. This paper addresses the challenge by proposing a critical turning point (CTP) based hierarchical planning approach. This includes a high-level candidate path generator and a low-level partially observable Markov decision process (POMDP) based planner. The proposed CTP concept, inspired by human-driving behaviors at intersections, aims to increase the computational efficiency of the low-level planner and to enable human-friendly autonomous driving. The POMDP based low-level planner takes unknown intentions of oncoming vehicles into considerations to perform less conservative yet safe actions. With proper integration, the proposed hierarchical approach is capable of achieving safe planning results with high commute efficiency at unsignalized intersections in real time.
AB - Left-turn planning is one of the formidable challenges for autonomous vehicles, especially at unsignalized intersections due to the unknown intentions of oncoming vehicles. This paper addresses the challenge by proposing a critical turning point (CTP) based hierarchical planning approach. This includes a high-level candidate path generator and a low-level partially observable Markov decision process (POMDP) based planner. The proposed CTP concept, inspired by human-driving behaviors at intersections, aims to increase the computational efficiency of the low-level planner and to enable human-friendly autonomous driving. The POMDP based low-level planner takes unknown intentions of oncoming vehicles into considerations to perform less conservative yet safe actions. With proper integration, the proposed hierarchical approach is capable of achieving safe planning results with high commute efficiency at unsignalized intersections in real time.
UR - https://www.scopus.com/pages/publications/85095338673
U2 - 10.1109/ITSC45102.2020.9294754
DO - 10.1109/ITSC45102.2020.9294754
M3 - Conference contribution
AN - SCOPUS:85095338673
T3 - 2020 IEEE 23rd International Conference on Intelligent Transportation Systems, ITSC 2020
BT - 2020 IEEE 23rd International Conference on Intelligent Transportation Systems, ITSC 2020
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 20 September 2020 through 23 September 2020
ER -