The multi-lane roundabout poses significant challenges for autonomous driving due to its complex road structure and traffic conditions. To address these challenges, this paper proposes a novel Neural Model Predictive Control (NMPC)-based decision-making framework that integrates prediction, planning, and control for autonomous vehicles to navigate multi-lane roundabouts. The proposed NMPC framework learns a dynamical model, incorporating interaction data, to accurately predict the behavior of surrounding traffic participants. Multiple candidate static paths are then generated based on the road structure, and the decision-making problem is formulated as a series of parallel static path tracking control problems subject to safety constraints. The static path with minimal tracking cost is selected as the target reference path, and the tracking control is generated simultaneously. To enhance computational efficiency, NMPC utilizes a critic network and an actor network to approximate the tracking cost and the control policy, respectively. Experimental evaluation on a multi-lane roundabout simulator, based on a real roundabout in Beijing, demonstrates that the proposed method performs better in terms of driving safety and efficiency compared to several baseline algorithms across various traffic densities.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Neural MPC-Based Decision-Making Framework for Autonomous Driving in Multi-Lane Roundabout


    Beteiligte:
    Mu, Yao (Autor:in) / Lan, Zhiqian (Autor:in) / Chen, Chen (Autor:in) / Liu, Chang (Autor:in) / Luo, Ping (Autor:in) / Li, Shengbo Eben (Autor:in)


    Erscheinungsdatum :

    24.09.2023


    Format / Umfang :

    1169711 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Multi-Grid based decision making at Roundabout for Autonomous Vehicles

    Wang, Weichao / Nguyen, Quang A. / Ma, Wubin et al. | IEEE | 2019



    Capacity of Multi-Lane Roundabout: Methodology Based on Lane Utilization

    Bie, Jing / Lo, Hong K. / Wong, S. C. | ASCE | 2006


    Decision-making method for lane changing behavior of automatic driving vehicle in roundabout scene based on mixed game

    WANG QIMING / WAN XUAN / YANG TIANQI et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Capacity of Multi-Lane Roundabout: Methodology Based on Lane Utilization

    Bie, J. / Lo, H. K. / Wong, S. C. et al. | British Library Conference Proceedings | 2005