Rodrigues, Maradona, McGordon, Andrew, Gest, Graham and Marco, James (2016) Adaptive tactical behaviour planner for autonomous ground vehicle. In: The 2016 UKACC International Conference on Control (UKACC Control 2016) , Belfast, 31 Aug - 02 Sep 2016. Published in: The 2016 UKACC International Conference on Control (UKACC Control 2016) ISBN 9781467398923.

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Abstract

Success of autonomous vehicle to effectively
replace a human driver depends on its ability to plan safe,
efficient and usable paths in dynamically evolving traffic
scenarios. This challenge gets more difficult when the
autonomous vehicle has to drive through scenarios such as
intersections that demand interactive behavior for successful
navigation. The many autonomous vehicle demonstrations over
the last few decades have highlighted the limitations in the
current state of the art in path planning solutions. They have
been found to result in inefficient and sometime unsafe
behaviours when tackling interactively demanding scenarios. In
this paper we review the current state of the art of path planning
solutions, the individual planners and the associated methods
for each planner. We then establish a gap in the path planning
solutions by reviewing the methods against the objectives for
successful path planning. A new adaptive tactical behaviour
planner framework is then proposed to fill this gap. The
behaviour planning framework is motivated by how expert
human drivers plan their behaviours in interactive scenarios.
Individual modules of the behaviour planner is then described
with the description how it fits in the overall framework. Finally
we discuss how this planner is expected to generate safe and
efficient behaviors in complex dynamic traffic scenarios by
considering a case of an un-signalised roundabout.

Item Type:	Conference Item (Paper)
Subjects:	T Technology > TE Highway engineering. Roads and pavements T Technology > TL Motor vehicles. Aeronautics. Astronautics
Divisions:	Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group)
Library of Congress Subject Headings (LCSH):	Autonomous vehicles, Autonomous vehicles -- Planning, Autonomous vehicles -- Safety measures, Autonomous vehicles -- Technological innovations, Motor vehicles -- Safety measures, Motor vehicles -- Automatic control, Motor vehicles -- Technological innovations, Intelligent transportation systems
Journal or Publication Title:	The 2016 UKACC International Conference on Control (UKACC Control 2016)
Publisher:	IEEE
ISBN:	9781467398923
Official Date:	17 May 2016
Dates:	Date Event 17 May 2016 Accepted
Status:	Peer Reviewed
Publication Status:	Published
Access rights to Published version:	Restricted or Subscription Access
Date of first compliant deposit:	5 September 2016
Date of first compliant Open Access:	17 May 2017
Conference Paper Type:	Paper
Title of Event:	The 2016 UKACC International Conference on Control (UKACC Control 2016)
Type of Event:	Conference
Location of Event:	Belfast
Date(s) of Event:	31 Aug - 02 Sep 2016
Related URLs:	Organisation

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