TR2023-084

Decision Making for Automated Driving by Reachability of Parameterized Maneuvers

    •  Di Cairano, S., Skibik, T., Vinod, A.P., Weiss, A., Berntorp, K., "Decision Making for Automated Driving by Reachability of Parameterized Maneuvers", World Congress of the International Federation of Automatic Control (IFAC), Ishii, H. and Ebihara, Y. and Imura, J. and Yamakita, M., Eds., DOI: 10.1016/​j.ifacol.2023.10.018, July 2023, pp. 7852-7857.
      BibTeX TR2023-084 PDF
      • @inproceedings{DiCairano2023jul,
      • author = {Di Cairano, Stefano and Skibik, Terrence and Vinod, Abraham P. and Weiss, Avishai and Berntorp, Karl},
      • title = {Decision Making for Automated Driving by Reachability of Parameterized Maneuvers},
      • booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
      • year = 2023,
      • editor = {Ishii, H. and Ebihara, Y. and Imura, J. and Yamakita, M.},
      • pages = {7852--7857},
      • month = jul,
      • publisher = {Elsevier},
      • doi = {10.1016/j.ifacol.2023.10.018},
      • url = {https://www.merl.com/publications/TR2023-084}
      • }
  • MERL Contacts:
  • Research Areas:

    Control, Dynamical Systems, Robotics

Abstract:

We consider a decision making system for automated driving that has the objective of determining what maneuvers are feasible for the current vehicle, route, and traffic conditions. For the maneuvers determined to be feasible, a motion planner can then generate the trajectories that achieve the corresponding goals, without the risk of wasting computations in searching for a trajectory of an impossible maneuver. We solve the decision making problem by constructing backward reachable sets for goals and collision areas, based on maneuvers that are generated by dynamical models with decision parameters. Online, we only need to check the existence of parameter values that provide membership of the state-parameter vector in a goal reachable set, and non-membership in all collision reachable sets, which entails simple and fast computations. We evaluate the method in scenarios involving lane change and braking maneuvers.

 

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