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Autonomous navigation in interaction-based environments - a case of non-signalised roundabouts
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Rodrigues, Maradona, McGordon, Andrew, Gest, Graham and Marco, James (2018) Autonomous navigation in interaction-based environments - a case of non-signalised roundabouts. IEEE Transactions on Intelligent Vehicles, 3 (4). pp. 425-438. doi:10.1109/TIV.2018.2873916 ISSN 2379-8858.
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Official URL: http://dx.doi.org/10.1109/TIV.2018.2873916
Abstract
To reduce the number of collision fatalities at crossroads intersections many countries have started replacing intersections with non-signalised roundabouts, forcing the drivers to be more situationally aware and to adapt their behaviours according to the scenario. A non-signalised roundabout adds to the autonomous vehicle planning challenge, as navigating such interaction dependent scenarios safely, efficiently and comfortably has been a challenge even for human drivers. Unlike traffic signal controlled roundabouts where the merging order is centrally controlled, driving a non-signalised roundabout requires the individual actor to make the decision to merge based on the movement of other interacting actors. Most traditional autonomous planning approaches use rule-based speed assignment for generating admissible motion trajectories, which work successfully in non-interaction-based driving scenarios. They, however, are less effective in interaction-based scenarios as they lack the necessary ability to adapt the vehicle's motion according to the evolving driving scenario. In this paper, we demonstrate an Adaptive Tactical Behaviour Planner (ATBP) for an autonomous vehicle that is capable of planning human-like motion behaviours for navigating a non-signalised roundabout, combining naturalistic behaviour planning and tactical decision-making algorithm. The human driving simulator experiment used to learn the behaviour planning approach and ATBP design are described in the paper.
| Item Type: | Journal Article | ||||||||
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| Subjects: | T Technology > TE Highway engineering. Roads and pavements T Technology > TL Motor vehicles. Aeronautics. Astronautics |
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| Divisions: | Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group) | ||||||||
| Library of Congress Subject Headings (LCSH): | Autonomous vehicles, Roads -- Interchanges and intersections | ||||||||
| Journal or Publication Title: | IEEE Transactions on Intelligent Vehicles | ||||||||
| Publisher: | Institute of Electrical and Electronics Engineers | ||||||||
| ISSN: | 2379-8858 | ||||||||
| Official Date: | December 2018 | ||||||||
| Dates: |
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| Volume: | 3 | ||||||||
| Number: | 4 | ||||||||
| Number of Pages: | 14 | ||||||||
| Page Range: | pp. 425-438 | ||||||||
| DOI: | 10.1109/TIV.2018.2873916 | ||||||||
| Status: | Peer Reviewed | ||||||||
| Publication Status: | Published | ||||||||
| Access rights to Published version: | Open Access (Creative Commons) | ||||||||
| Date of first compliant deposit: | 5 November 2018 | ||||||||
| Date of first compliant Open Access: | 6 November 2018 |
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