Probabilistic online POMDP decision making for lane changes in fully automated driving

The Stadtpilot project aims at fully automated driving on Braunschweig's inner city ring road. The TU Braunschweig's research vehicle “Leonie” is one of the first vehicles having the ability of fully automated driving in real urban traffic scenarios. This paper shows the authors' decision making approach for performing lane changes while driving fully automated in urban environments. The authors apply an online Partially Observable Markov Decision Process (POMDP) to accommodate inevitable sensor noise to be faced in urban traffic scenarios. In this paper the authors propose a two step algorithm to keep the complexity of the POMDP low enough for real-time decision making while driving. The presented approach has been integrated in the authors' vehicle and was evaluated in real urban traffic.

• Record URL:
  https://doi.org/10.1109/ITSC.2013.6728533
• Availability:
  • Find a library where document is available. Order URL: http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=6712176
• Supplemental Notes:
  • Abstract reprinted with permission of IEEE.
• Corporate Authors:

  Institute of Electrical and Electronics Engineers (IEEE)

  3 Park Avenue, 17th Floor
  New York, NY  United States  10016-5997
• Authors:
  • Ulbrich, S
  • Maurer, M
• Conference:
  • 16th International IEEE Conference on Intelligent Transportation Systems (ITSC)
  • Location: The Hague , Netherlands
  • Date: 2013-10-6 to 2013-10-9
• Publication Date: 2013-10

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 2063-2067
• Monograph Title: 16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013)

Subject/Index Terms

• TRT Terms: Advanced vehicle control systems; Algorithms; Decision making; Intelligent transportation systems; Lane changing; Markov processes; Signal processing; Urban areas
• Subject Areas: Highways; Operations and Traffic Management; Planning and Forecasting; Vehicles and Equipment; I72: Traffic and Transport Planning; I73: Traffic Control; I90: Vehicles;

Filing Info

• Accession Number: 01563265
• Record Type: Publication
• ISBN: 9781479929146
• Files: TRIS
• Created Date: May 18 2015 11:01AM