Investigation of lane-changing decision-making models for autonomous vehicles

2021 ◽  
Author(s):  
Wei Wu ◽  
Jiajun Ye ◽  
Weiping Tong ◽  
Youkai Cui
Keyword(s):  
Decision Making ◽  
Autonomous Vehicles ◽  
Lane Changing ◽  
Decision Making Models

scholarly journals A Game Theory-Based Approach for Modeling Autonomous Vehicle Behavior in Congested, Urban Lane-Changing Scenarios

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1523
Author(s):  
Nikita Smirnov ◽  
Yuzhou Liu ◽  
Aso Validi ◽  
Walter Morales-Alvarez ◽  
Cristina Olaverri-Monreal
Keyword(s):  
Game Theory ◽  
Decision Making ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Urban Traffic ◽  
Road User ◽  
Lane Change ◽  
Traffic Light ◽  
User Interactions ◽  
Lane Changing

Autonomous vehicles are expected to display human-like behavior, at least to the extent that their decisions can be intuitively understood by other road users. If this is not the case, the coexistence of manual and autonomous vehicles in a mixed environment might affect road user interactions negatively and might jeopardize road safety. To this end, it is highly important to design algorithms that are capable of analyzing human decision-making processes and of reproducing them. In this context, lane-change maneuvers have been studied extensively. However, not all potential scenarios have been considered, since most works have focused on highway rather than urban scenarios. We contribute to the field of research by investigating a particular urban traffic scenario in which an autonomous vehicle needs to determine the level of cooperation of the vehicles in the adjacent lane in order to proceed with a lane change. To this end, we present a game theory-based decision-making model for lane changing in congested urban intersections. The model takes as input driving-related parameters related to vehicles in the intersection before they come to a complete stop. We validated the model by relying on the Co-AutoSim simulator. We compared the prediction model outcomes with actual participant decisions, i.e., whether they allowed the autonomous vehicle to drive in front of them. The results are promising, with the prediction accuracy being 100% in all of the cases in which the participants allowed the lane change and 83.3% in the other cases. The false predictions were due to delays in resuming driving after the traffic light turned green.

scholarly journals Decentralized Cooperative Lane-Changing Decision-Making for Connected Autonomous Vehicles*

IEEE Access ◽  
2016 ◽  
Vol 4 ◽  
pp. 9413-9420 ◽  
Author(s):  
Jianqiang Nie ◽  
Jian Zhang ◽  
Wanting Ding ◽  
Xia Wan ◽  
Xiaoxuan Chen ◽  
...  
Keyword(s):  
Decision Making ◽  
Autonomous Vehicles ◽  
Lane Changing

Multi-Player Dynamic Game-Based Automatic Lane-Changing Decision Model under Mixed Autonomous Vehicle and Human-Driven Vehicle Environment

2020 ◽  
Vol 2674 (11) ◽  
pp. 165-183
Author(s):  
Yuewen Yu ◽  
Shikun Liu ◽  
Peter J. Jin ◽  
Xia Luo ◽  
Mengxue Wang
Keyword(s):  
Game Theory ◽  
Decision Making ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Splitting Method ◽  
Dynamic Game ◽  
Cruise Control ◽  
Lane Changing ◽  
Bicycle Model ◽  
Decision Making Model

The lane-changing decision-making process is challenging but critical to ensure safe and smooth maneuvers for autonomous vehicles (AVs). Conventional Gipps-type algorithms lack the flexibility for practical use under a mixed autonomous vehicle and human-driven vehicle (AV-HV) environment. Algorithms based on utility ignore the reactions of surrounding vehicles to the lane-changing vehicle. Game theory is a good way to solve the shortcomings of current algorithms, but most models based on game theory simplify the game with surrounding vehicles to the game with the following vehicle in the target lane, which means that the lane-changing decision under a mixed environment is not realized. This paper proposes a lane-changing decision-making model which is suitable for an AV to change lanes under a mixed environment based on a multi-player dynamic game theory. The overtaking expectation parameter (OEP) is introduced to estimate the utility of the following vehicle, OEP can be calculated by the proposed non-lane-based full velocity difference model with the consideration of lateral move and aggressiveness. This paper further proposes a hybrid splitting method algorithm to obtain the Nash equilibrium solution in the multi-player game to obtain the optimal strategy of lane-changing decision for AVs. An adaptive cruise control simulation environment is developed with MATLAB’s Simulink toolbox using Next Generation Simulation (NGSIM) data as the background traffic flow. The classic bicycle model is used in the control of involved HVs. Simulation results show the efficiency of the proposed multi-player dynamic game-based algorithm for lane-changing decision making by AVs under a mixed AV-HV environment.

scholarly journals Anatomy of Self Driving Vehicle

2021 ◽  
Vol 9 (VII) ◽  
pp. 393-401
Author(s):  
Parth Ghube
Keyword(s):  
Decision Making ◽  
Science Fiction ◽  
Autonomous Vehicles ◽  
New Technology ◽  
Transportation Industry ◽  
Decision Making Models ◽  
Current Systems

The concept of Autonomous Vehicles portrayed in several Science Fiction mediums is now close to commercial reality. The new technology has the potential to change the conventional Transportation Industry. If implemented successfully, it will benefit society as a whole. As emerging as it seems; it also raises some serious challenges. This paper presents a systematic outline of the key components of Self Driving vehicles, current systems used, an overview of the Decision-making models, future scope and the practical challenges faced while developing and deploying the technology.

Multi-Cameras based Decision Making at Mini-Roundabouts for Autonomous Vehicles

2019 ◽  
Author(s):  
Weichao Wang ◽  
Quang A Nguyen ◽  
Paul Wai Hing Chung ◽  
Qinggang Meng
Keyword(s):  
Decision Making ◽  
Autonomous Vehicles

Information support for expert evaluation of the states of the external environment

2020 ◽  
pp. 71-76
Author(s):  
Rasol Murtadha Najah
Keyword(s):  
Decision Making ◽  
Environmental Conditions ◽  
Fuzzy Inference ◽  
Environmental Parameters ◽  
Information Support ◽  
Expert Assessment ◽  
Fuzzy Variables ◽  
Decision Making Models ◽  
The Difference ◽  
State Of The Environment

This article discusses the application of methods to enhance the knowledge of experts to build a decision-making model based on the processing of physical data on the real state of the environment. Environmental parameters determine its ecological state. To carry out research in the field of expert assessment of environmental conditions, the analysis of known works in this field is carried out. The results of the analysis made it possible to justify the relevance of the application of analytical, stochastic models and models based on methods of enhancing the knowledge of experts — experts. It is concluded that the results of using analytical and stochastic objects are inaccurate, due to the complexity and poor mathematical description of the objects. The relevance of developing information support for an expert assessment of environmental conditions is substantiated. The difference of this article is that based on the analysis of the application of expert methods for assessing the state of the environment, a fuzzy logic adoption model and information support for assessing the environmental state of the environment are proposed. The formalization of the parameters of decision-making models using linguistic and fuzzy variables is considered. The formalization of parameters of decision-making models using linguistic and fuzzy variables was considered. The model’s description of fuzzy inference is given. The use of information support for environment state assessment is shown on the example of experts assessing of the land desertification stage.

Information technology support for integrated supply chain modeling

2008 ◽  
Vol 27 (1) ◽  
pp. 3-13
Author(s):  
Charu Chandra ◽  
Jānis Grabis
Keyword(s):  
Decision Making ◽  
Information Technology ◽  
Supply Chain ◽  
Process Modeling ◽  
Service Oriented Architecture ◽  
Model Development ◽  
Integrated Models ◽  
Supply Chain Modeling ◽  
Decision Making Models ◽  
Integrated Supply Chain

Multiple interrelated decision-making models are frequently used in supply chain modeling. Model integration is a precondition for efficient development and utilization of these models. This paper discusses use of modern information technology (IT) techniques and methods for integration of supply chain decision-making models. The overall approach to using IT at various stages of model development is presented. Data and process modeling techniques are used to developed semi-formalized representation of integrated models. These models support integration of decision-making components with other parts of supply chain information system. Process modeling is also used to describe interrelationships among multiple decision-making models. This representation is used as the basis for implementation of integrated models. The service-oriented architecture is proposed as an implementation platform. The presented discussion serves as the basis for further developments in developing integrated supply chain decision-making models.

scholarly journals Approaches for multicriteria decision-making based on the hesitant fuzzy best–worst method

2021 ◽  
Author(s):  
Jian Li ◽  
Li-li Niu ◽  
Qiongxia Chen ◽  
Zhong-xing Wang
Keyword(s):  
Decision Making ◽  
Comparative Analysis ◽  
Programming Model ◽  
Multicriteria Decision Making ◽  
Decision Makers ◽  
Multicriteria Decision ◽  
Preference Relations ◽  
Fuzzy Preference Relations ◽  
Decision Making Models ◽  
Best Worst Method

AbstractHesitant fuzzy preference relations (HFPRs) have been widely applied in multicriteria decision-making (MCDM) for their ability to efficiently express hesitant information. To address the situation where HFPRs are necessary, this paper develops several decision-making models integrating HFPRs with the best worst method (BWM). First, consistency measures from the perspectives of additive/multiplicative consistent hesitant fuzzy best worst preference relations (HFBWPRs) are introduced. Second, several decision-making models are developed in view of the proposed additive/multiplicatively consistent HFBWPRs. The main characteristic of the constructed models is that they consider all the values included in the HFBWPRs and consider the same and different compromise limit constraints. Third, an absolute programming model is developed to obtain the decision-makers’ objective weights utilizing the information of optimal priority weight vectors and provides the calculation of decision-makers’ comprehensive weights. Finally, a framework of the MCDM procedure based on hesitant fuzzy BWM is introduced, and an illustrative example in conjunction with comparative analysis is provided to demonstrate the feasibility and efficiency of the proposed models.

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