Cooperative driving behavior is essential for driving in traffic, especially for ramp merging, lane changing or navigating intersections. Autonomous vehicles should also manage these situations by behaving cooperatively and naturally. The challenge of cooperative driving is estimating other vehicles' intentions. In this paper, we present a novel method to estimate other human-driven vehicles' intentions with the aim of achieving a natural and amenable cooperative driving behavior, without using wireless communication. The new approach allows the autonomous vehicle to cooperate with multiple observable merging vehicles on the ramp with a leading vehicle ahead of the autonomous vehicle in the same lane. To avoid calculating trajectories, simplify computation, and take advantage of mature Level-3 components, the new method reacts to merging cars by determining a following target for an off-the-shelf distance keeping module (ACC) which governs speed control of the autonomous vehicle. We train and evaluate the proposed model using real traffic data. Results show that the new approach has a lower collision rate than previous methods and generates more human driver-like behaviors in terms of trajectory similarity and time-to-collision to leading vehicles.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Interactive ramp merging planning in autonomous driving: Multi-merging leading PGM (MML-PGM)


    Contributors:


    Publication date :

    2017-10-01


    Size :

    387905 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Intention estimation for ramp merging control in autonomous driving

    Dong, Chiyu / Dolan, John M. / Litkouhi, Bakhtiar | IEEE | 2017


    Smooth Behavioral Estimation For Ramp Merging Control In Autonomous Driving

    Dong, Chiyu / Dolan, John M. / Litkouhi, Bakhtiar | IEEE | 2018


    Ramp merging assistance

    WANG ZIRAN / HAN KYUNGTAE / TIWARI PRASHANT | European Patent Office | 2022

    Free access

    RAMP MERGING ASSISTANCE

    WANG ZIRAN / HAN KYUNGTAE / TIWARI PRASHANT | European Patent Office | 2021

    Free access

    Secure Ramp Merging using Blockchain

    Abdo, Ahmed / Wu, Guoyuan / Abu-Ghazaleh, Nael | IEEE | 2021