Spline-Based Multi-Level Planning for Autonomous Vehicles

The paper was extended and published as: R. Kala, K. Warwick (2013) Multi-Level Planning for SemiAutonomous Vehicles in Traffic Scenarios based on Separation Maximization, Journal of Intelligent and Robotic Systems, 2013,DOI:10.1007/s10846-013-9817-7
15 April 2014 PGRC 2011 rkala.99k.org

Rahul Kala

Autonomous Vehicles
Safety

Comfort

Efficient Driving

Coordination

Jam Avoidance

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Conventional Model

Planning

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Why not speed lanes?

Highly Diverse Speeds

Coordination

Highly Diverse Sizes

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Why not speed lanes?

Single lanes

And if highly crowded

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Why not speed lanes?

Our model assumes that vehicles travel only along lanes or on certain lane-change path. In California, the practice of lane-splitting is legal motorcycles are free to travel in between cars in adjacent lanes. This occurs in the I-80 dataset, and presents a challenge for our method, which must try to find a path around such obstacles and force each vehicle to precisely follow a single lane. Sewall et al. (2011)

J. Sewall, J. van den Berg, M. C. Lin, D. Manocha, D, Virtualized Traffic: Reconstructing Traffic Flows from Discrete Spatiotemporal Data, IEEE Transaction on Visualization Computer Graphics, 17(1), 26-37 (2011). PGR-2011, 4th April, 2011 6

Why not conventional Path Planning?

Pre-known/same time of emergence

Wide spaces around High mobility/Low Speeds
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From Literature

Source: R. Kala, et al., Robotic path planning in static environment using hierarchical multi-neuron heuristic search and probability based fitness, Neurocomputing (2011), doi:10.1016/j.neucom.2011.03.006 PGR-2011, 4th April, 2011 8

From Literature
Map

Level 1

Level 2

Source: R. Kala, et al., Fusion of probabilistic A* algorithm and fuzzy inference system for robotic path planning, Artificial Intelligence Review, Vol. 33, No. 4, pp 275-306 PGR-2011, 4th April, 2011 9

MULTI-LEVEL PLANNING

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Results

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Results Single Vehicle Scenarios

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Results 2 Vehicle Scenarios

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Results Multi- Vehicle Scenarios

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Results - Overtaking

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Results Path Following

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Solution
Vehicle to be planned
Road/Crossing Map Road Selection

Path
Pathway Selection Replan

All Vehicle Pathways

Pathway Pathway Distribution Distributed Pathway

All Vehicle Trajectories

Trajectory Generation Trajectory Controller

Replan

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Road Selection

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Separation Maximization

Separation

Pathways
Hypothesis from: J. R. Alvarez-Sanchez, F. de la Paz Lopez, J. M. C. Troncoso, D. de Santos Sierra, Reactive navigation in real environments using partial center of area method, Robotic and Autonomous Systems, 58(12), 1231-1237 (2010).
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Pathway Selection

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Pathway Selection
Dijkstras algorithm cost ds(Pajk(m2)) = ds(Pajk(m1)) + || end(Pajk(m2)) end(Pajk(m1)) || min_width(Pajk(m2)) = min(width(Pajk(m2)), min_width(Pajk(m1)),wmax)

cost(Pajk(m2)) = ds(Pajk(m2)) + min_width(Pajk(m2))

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Coordination and Re-planning

Ri is said to have a higher priority compared to Rr if Ri and Rr are driving in same direction of road and Ri lies ahead of Rr.

Or
Ri and Rr are driving in opposite directions of road and point of collision lies in left side of complete road.

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Pathway Distribution

Separation

Pathways

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Pathway Distribution
Pathway Distribution
Vehicle 2 (Speed=5)

Vehicle 3 (Speed=15)

Vehicle 1 (Speed=5) Prepreparation

Overtake

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Pathway Distribution
Prepare yourself early for distribution change

- Pre-preparation
Late change of distribution

- Post-preparation

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Coordination and Re-planning

Ri has a higher priority if It lies ahead of Rr with Ri and Rr going in same direction

Or
Rr and Ri have different directions.

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Trajectory Generation

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Trajectory Generation

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Trajectory Generation
Vehicle 2 (Speed=5)

Vehicle 1 (Speed=5) Vehicle 3 (Speed=15)

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THANK YOU

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