Parameter Adjustments in POMDP-Based Trajectory Planning for Unsignalized Intersections

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F24%3A00374634" target="_blank" >RIV/68407700:21730/24:00374634 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21230/24:00374634
Result on the web
<a href="http://dx.doi.org/10.5220/0012742400003702" target="_blank" >http://dx.doi.org/10.5220/0012742400003702</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.5220/0012742400003702" target="_blank" >10.5220/0012742400003702</a>

Result language
angličtina
Original language name
Parameter Adjustments in POMDP-Based Trajectory Planning for Unsignalized Intersections
Original language description
This paper investigates the problem of trajectory planning for autonomous vehicles at unsignalized intersections, specifically focusing on scenarios where the vehicle lacks the right of way and yet must cross safely. To address this issue, we have employed a method based on the Partially Observable Markov Decision Processes (POMDPs) framework designed for planning under uncertainty. The method utilizes the Adaptive Belief Tree (ABT) algorithm as an approximate solver for the POMDPs. We outline the POMDP formulation, beginning with discretizing the intersection’s topology. Additionally, we present a dynamics model for the prediction of the evolving states of vehicles, such as their position and velocity. Using an observation model, we also describe the connection of those states with the imperfect (noisy) available measurements. Our results confirmed that the method is able to plan collision-free trajectories in a series of simulations utilizing real-world traffic data from aerial footage of two distinct intersections. Furthermore, we studied the impact of parameter adjustments of the ABT algorithm on the method’s performance. This provides guidance in determining reasonable parameter settings, which is valuable for future method applications.
Czech name
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Czech description
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Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 10th International Conference on Vehicle Technology and Intelligent Transport Systems
ISBN
978-989-758-703-0
ISSN
2184-495X
e-ISSN
2184-495X
Number of pages
8
Pages from-to
522-529
Publisher name
Science and Technology Publications, Lda
Place of publication
Setúbal
Event location
Angers
Event date
May 2, 2024
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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