With more autonomous vehicles (AVs) sharing roadways with human-driven vehicles (HVs), ensuring safe and courteous maneuvers that respect HVs' behavior becomes increasingly important. To promote both safety and courtesy in AV's behavior, an extension of Control Barrier Functions (CBFs)-inspired risk evaluation framework is proposed in this paper by considering both noisy observed positions and velocities of surrounding vehicles. The perceived risk by the ego vehicle can be visualized as a risk map that reflects the understanding of the surrounding environment and thus shows the potential for facilitating safe and courteous driving. By incorporating the risk evaluation framework into the Model Predictive Control (MPC) scheme, we propose a Courteous MPC for ego AV to generate courteous behaviors that 1) reduce the overall risk imposed on other vehicles and 2) respect the hard safety constraints and the original objective for efficiency. We demonstrate the performance of the proposed Courteous MPC via theoretical analysis and simulation experiments.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Courteous MPC for Autonomous Driving with CBF-Inspired Risk Assessment


    Contributors:
    Zhang, Yanze (author) / Lyu, Yiwei (author) / Demir, Sude E. (author) / Zhou, Xingyu (author) / Yang, Yupeng (author) / Wang, Junmin (author) / Luo, Wenhao (author)


    Publication date :

    2024-09-24


    Size :

    3326479 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Courteous Autonomous Cars

    Sun, Liting / Zhan, Wei / Tomizuka, Masayoshi et al. | ArXiv | 2018

    Free access

    Towards Courteous Behavior and Trajectory Planning for Automated Driving

    Speidel, Oliver / Graf, Maximilian / Phan-Huu, Thanh et al. | IEEE | 2019


    COURTEOUS TRAJECTORY PLANNING FOR AUTOMATED VEHICLES

    BOWYER MICHAEL JOHN / NUTTLE BENJAMIN THOMAS | European Patent Office | 2021

    Free access

    Courteous trajectory planning for automated vehicles

    BOWYER MICHAEL JOHN / NUTTLE BENJAMIN THOMAS | European Patent Office | 2021

    Free access

    Autonomous Driving Risk Assessment With Boundary-Based Environment Model

    Jiao, Xinyu / Chen, Junjie / Jiang, Kun et al. | IEEE | 2024