Multi agent simulation of unorganized traffic
Proceedings of the first international joint conference on Autonomous agents and multiagent systems: part 1
Junior: The Stanford entry in the Urban Challenge
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part II
A perception-driven autonomous urban vehicle
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part III
Engineering Applications of Artificial Intelligence
Situation assessment for automatic lane-change maneuvers
IEEE Transactions on Intelligent Transportation Systems
Real-time driving danger-level prediction
Engineering Applications of Artificial Intelligence
Reactive navigation in real environments using partial center of area method
Robotics and Autonomous Systems
Virtualized Traffic: Reconstructing Traffic Flows from Discrete Spatiotemporal Data
IEEE Transactions on Visualization and Computer Graphics
VIRTUOUS: vision-based road transportation for unmanned operation on urban-like scenarios
IEEE Transactions on Intelligent Transportation Systems
Lane-Change Fuzzy Control in Autonomous Vehicles for the Overtaking Maneuver
IEEE Transactions on Intelligent Transportation Systems
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Planning is one of the key problems for autonomous vehicles operating in road scenarios. Present planning algorithms operate with the assumption that traffic is organised in predefined speed lanes, which makes it impossible to allow autonomous vehicles in countries with unorganised traffic. Unorganised traffic is though capable of higher traffic bandwidths when constituting vehicles vary in their speed capabilities and sizes. Diverse vehicles in an unorganised exhibit unique driving behaviours which are analysed in this paper by a simulation study. The aim of the work reported here is to create a planning algorithm for mixed traffic consisting of both autonomous and non-autonomous vehicles without any inter-vehicle communication. The awareness (e.g. vision) of every vehicle is restricted to nearby vehicles only and a straight infinite road is assumed for decision making regarding navigation in the presence of multiple vehicles. Exhibited behaviours include obstacle avoidance, overtaking, giving way for vehicles to overtake from behind, vehicle following, adjusting the lateral lane position and so on. A conflict of plans is a major issue which will almost certainly arise in the absence of inter-vehicle communication. Hence each vehicle needs to continuously track other vehicles and rectify plans whenever a collision seems likely. Further it is observed here that driver aggression plays a vital role in overall traffic dynamics, hence this has also been factored in accordingly. This work is hence a step forward towards achieving autonomous vehicles in unorganised traffic, while similar effort would be required for planning problems such as intersections, mergers, diversions and other modules like localisation.