It is important for autonomous vehicles to plan at the unsignalized intersection due to the uncertainty of visible vehicles and phantom vehicles in the blind zone. This paper proposes a hierarchical framework to optimize the left-turn planning at the intersection to solve this problem. The framework is composed of a higher-level candidate paths selector and a lower-level Partially Observable Markov Decision Process planner. All possible vehicle distributions in the blind zone are represented in the form of a set, which makes the method have the good universality. The simulation experiments show that autonomous vehicle can pass the intersection safely and efficiently.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A hierarchical planning framework of the intersection with blind zone and uncertainty


    Beteiligte:
    Wang, Yue (Autor:in) / Guo, Yafeng (Autor:in) / Wang, Jun (Autor:in)


    Erscheinungsdatum :

    19.09.2021


    Format / Umfang :

    522890 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Unmanned vehicle blind area intersection planning method considering uncertainty

    WANG JUN / ZHAO XUHE | Europäisches Patentamt | 2023

    Freier Zugriff


    Intersection blind guiding auxiliary device

    LI WEIYUAN / SHEN KAIYAN / LI JING | Europäisches Patentamt | 2020

    Freier Zugriff

    INTERSECTION BLIND-GUIDING SYSTEM, BLIND-GUIDING METHOD AND BLIND-GUIDING TERMINAL

    CHEN NAN / SONG YONGZHI / WANG DONG et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    Trajectory Planning Framework Combining Replanning and Hierarchical Planning

    Qin, Ping / Liu, Fei / Shang, Yuze et al. | Transportation Research Record | 2023