Decision making for autonomous vehicles
| Autor: | Mauro Fusco, Dehlia M.C. Willemsen, J.M. van de Mortel-Fronczak, Wpmh Maurice Heemels, Jeroen J. Verbakel |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Mathematical optimization Computer science 020208 electrical & electronic engineering 02 engineering and technology Decision maker Two stages Vehicle driving Autonomous Vehicles decision making Tree traversal 020901 industrial engineering & automation Action (philosophy) Control and Systems Engineering Control theory Scalability 0202 electrical engineering electronic engineering information engineering Markov decision process Multi-vehicle systems Mission planning |
| Zdroj: | IFAC-PapersOnLine. 53(2):15380-15387 |
| ISSN: | 2405-8963 |
| Popis: | In this paper, we propose a novel decision maker design for an autonomous vehicle driving on a highway, considering safety and optimality, and which is scalable, i.e., remains computationally tractable for more complex situations. This is realized in two stages. First, all safe actions are found, and second, from these actions the optimal action is selected, according to (weighted) criteria that capture safety, comfort and efficiency. The design combines rule-based safety checks with the solution of a Markov decision process, found through a tree search algorithm, to fulfill the safe, smart and scalable requirements of the decision maker. The design is validated in simulation using eight different scenarios. The performance of the new design is compared to the performance of a rule-based controller. This comparison is done using three performance criteria that aim to capture safety, efficiency and comfort. |
| Databáze: | OpenAIRE |
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