Table of Contents Author Guidelines Submit a Manuscript
Mathematical Problems in Engineering
Volume 2016, Article ID 1025349, 15 pages
http://dx.doi.org/10.1155/2016/1025349
Research Article

Intention-Aware Autonomous Driving Decision-Making in an Uncontrolled Intersection

School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China

Received 3 September 2015; Revised 18 February 2016; Accepted 23 March 2016

Academic Editor: Dongsuk Kum

Copyright © 2016 Weilong Song et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. C. Urmson, J. Anhalt, D. Bagnell et al., “Autonomous driving in urban environments: boss and the urban challenge,” Journal of Field Robotics, vol. 25, no. 8, pp. 425–466, 2008. View at Publisher · View at Google Scholar · View at Scopus
  2. J. Markoff, “Google cars drive themselves, in traffic,” New York Times, vol. 9, 2010. View at Google Scholar
  3. L. R. Rabiner and B.-H. Juang, “An introduction to hidden Markov models,” IEEE ASSP Magazine, vol. 3, no. 1, pp. 4–16, 1986. View at Publisher · View at Google Scholar · View at Scopus
  4. M. Buehler, K. Iagnemma, and S. Singh, The DARPA Urban Challenge: Autonomous Vehicles in City Traffic, vol. 56, Springer, 2009.
  5. S. Kammel, J. Ziegler, B. Pitzer et al., “Team AnnieWAY's autonomous system for the 2007 DARPA Urban Challenge,” Journal of Field Robotics, vol. 25, no. 9, pp. 615–639, 2008. View at Publisher · View at Google Scholar · View at Scopus
  6. C. R. Baker and J. M. Dolan, “Traffic interaction in the urban challenge: putting boss on its best behavior,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '08), pp. 1752–1758, IEEE, Nice, France, September 2008. View at Publisher · View at Google Scholar · View at Scopus
  7. M. Montemerlo, J. Becker, S. Shat et al., “Junior: the Stanford entry in the urban challenge,” Journal of Field Robotics, vol. 25, no. 9, pp. 569–597, 2008. View at Publisher · View at Google Scholar · View at Scopus
  8. L. Fletcher, S. Teller, E. Olson et al., “The MIT-Cornell collision and why it happened,” Journal of Field Robotics, vol. 25, no. 10, pp. 775–807, 2008. View at Publisher · View at Google Scholar · View at Scopus
  9. M. Bahram, A. Wolf, M. Aeberhard, and D. Wollherr, “A prediction-based reactive driving strategy for highly automated driving function on freeways,” in Proceedings of the 25th IEEE Intelligent Vehicles Symposium, pp. 400–406, IEEE, Dearborn, Mich, USA, June 2014. View at Publisher · View at Google Scholar · View at Scopus
  10. J. Wei, J. M. Dolan, and B. Litkouhi, “A prediction- and cost function-based algorithm for robust autonomous freeway driving,” in Proceedings of the IEEE Intelligent Vehicles Symposium (IV '10), pp. 512–517, San Diego, Calif, USA, June 2010. View at Publisher · View at Google Scholar · View at Scopus
  11. J. Wei, J. M. Dolan, and B. Litkouhi, “Autonomous vehicle social behavior for highway entrance ramp management,” in Proceedings of the IEEE Intelligent Vehicles Symposium (IV '13), pp. 201–207, IEEE, Gold Coast, Australia, June 2013. View at Publisher · View at Google Scholar · View at Scopus
  12. H. Bai, S. Cai, N. Ye, D. Hsu, and W. S. Lee, “Intention-aware online POMDP planning for autonomous driving in a crowd,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '15), pp. 454–460, IEEE, Seattle, Wash, USA, May 2015. View at Publisher · View at Google Scholar · View at Scopus
  13. A. Somani, N. Ye, D. Hsu, and W. S. Lee, “Despot: online pomdp planning with regularization,” in Advances in Neural Information Processing Systems, pp. 1772–1780, 2013. View at Google Scholar
  14. S. Brechtel, T. Gindele, and R. Dillmann, “Probabilistic decision-making under uncertainty for autonomous driving using continuous POMDPs,” in Proceedings of the 17th IEEE International Conference on Intelligent Transportation Systems (ITSC '14), pp. 392–399, Qingdao, China, October 2014. View at Publisher · View at Google Scholar · View at Scopus
  15. C. H. Papadimitriou and J. N. Tsitsiklis, “The complexity of Markov decision processes,” Mathematics of Operations Research, vol. 12, no. 3, pp. 441–450, 1987. View at Publisher · View at Google Scholar · View at MathSciNet
  16. O. Madani, S. Hanks, and A. Condon, “On the undecidability of probabilistic planning and related stochastic optimization problems,” Artificial Intelligence, vol. 147, no. 1-2, pp. 5–34, 2003. View at Publisher · View at Google Scholar · View at Zentralblatt MATH · View at MathSciNet · View at Scopus
  17. S. Ulbrich and M. Maurer, “Probabilistic online POMDP decision making for lane changes in fully automated driving,” in Proceedings of the 16th International IEEE Conference on Intelligent Transportation Systems (ITSC '13), pp. 2063–2067, The Hague, The Netherlands, October 2013.
  18. A. G. Cunningham, E. Galceran, R. M. Eustice, and E. Olson, “MPDM: multipolicy decision-making in dynamic, uncertain environments for autonomous driving,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '15), pp. 1670–1677, Seattle, Wash, USA, May 2015. View at Publisher · View at Google Scholar · View at Scopus
  19. D. A. Reynolds and R. C. Rose, “Robust text-independent speaker identification using Gaussian mixture speaker models,” IEEE Transactions on Speech and Audio Processing, vol. 3, no. 1, pp. 72–83, 1995. View at Publisher · View at Google Scholar · View at Scopus
  20. L. E. Baum and T. Petrie, “Statistical inference for probabilistic functions of finite state Markov chains,” The Annals of Mathematical Statistics, vol. 37, pp. 1554–1563, 1966. View at Publisher · View at Google Scholar · View at MathSciNet
  21. M. Tideman and M. Van Noort, “A simulation tool suite for developing connected vehicle systems,” in Proceedings of the IEEE Intelligent Vehicles Symposium (IEEE IV '13), pp. 713–718, Queensland, Australia, June 2013. View at Publisher · View at Google Scholar · View at Scopus