Abstract
The gradual deployment of automated vehicles (AVs) results in mixed traffic where AVs will interact with human-driven vehicles (HDVs). Thus, social-aware motion planning and control while considering interactions with HDVs on the road is critical for AVs’ deployment and safe driving under various maneuvers. Previous research mostly focuses on the trajectory planning of AVs using Model Predictive Control or other relevant methods, while seldom considering the integrated planning and control of AVs altogether to simplify the whole pipeline architecture. Furthermore, there are very limited studies on social-aware driving that makes AVs understandable and expected by human drivers, and none when it comes to the challenging maneuver of driving through roundabouts. To fill these research gaps, this paper develops an integrated social-aware planning and control algorithm for AVs’ driving through roundabouts based on Driving Risk Field (DRF), Social Value Orientation (SVO), and Model Predictive Contouring Control (MPCC), i.e., DRF-SVO-MPCC. The proposed method is tested and verified with simulation on the open-sourced highway-env platform. Compared with the baseline method using purely Nonlinear Model Predictive Control, the DRF-SVO-MPCC can achieve better performance under various maneuvers of driving through roundabouts with and without surrounding HDVs.
Original language | English |
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Number of pages | 1 |
Publication status | Published - 2023 |
Event | the 2023 Automated Road Transportation Symposium (ARTS) - San Francisco, United States Duration: 9 Jul 2023 → 13 Jul 2023 https://www.nationalacademies.org/event/07-09-2023/trbs-2023-automated-road-transportation-symposium |
Conference
Conference | the 2023 Automated Road Transportation Symposium (ARTS) |
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Abbreviated title | TRB-ARTS |
Country/Territory | United States |
City | San Francisco |
Period | 9/07/23 → 13/07/23 |
Internet address |
Keywords
- Automated vehicles
- Planning and control
- Social-aware driving
- Roundabouts
- Driving Risk Field
- Model Predictive Contouring Control