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.


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    Title :

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


    Contributors:
    Wang, Yue (author) / Guo, Yafeng (author) / Wang, Jun (author)


    Publication date :

    2021-09-19


    Size :

    522890 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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