Automated driving with human-like driving behavior requires the capability of cooperative decision making. In this paper, we present a novel method of cooperative decision making in dynamic and structured environments such as highways. Other motorists' intentions are deduced and integrated into a planning framework that allows for reasonable cooperative decision making without the need of inter-vehicle communication. Therefore, and to reduce computational complexity, we assume that following vehicles' actions are dominated by their predecessors and use the assumption to formulate a recursive conflict resolution algorithm. Results from simulations and real-world experiments show the functionality of the presented approach.
Recursive conflict resolution for cooperative motion planning in dynamic highway traffic
01.10.2014
184375 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Transportation Research Record | 2013
|Dynamic planning and time-conflict resolution in air traffic control
Tema Archiv | 1986
|On Optimal Cooperative Conflict Resolution for Air Traffic Management Systems
British Library Online Contents | 2000
|