A differentiated decision‐making algorithm for automated vehicles based on pedestrian feature estimation
Abstract One critical difficulty to high‐level automated driving is the decision‐making process of automated vehicles in complicated traffic environments, especially in situations mixed of pedestrians and vehicles. This paper proposes a differentiated decision‐making algorithm to promote passing cap...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2023-07-01
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| Series: | IET Intelligent Transport Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/itr2.12335 |
| _version_ | 1797777603539501056 |
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| author | Yuning Wang Heye Huang Bo Zhang Jianqiang Wang |
| author_facet | Yuning Wang Heye Huang Bo Zhang Jianqiang Wang |
| author_sort | Yuning Wang |
| collection | DOAJ |
| description | Abstract One critical difficulty to high‐level automated driving is the decision‐making process of automated vehicles in complicated traffic environments, especially in situations mixed of pedestrians and vehicles. This paper proposes a differentiated decision‐making algorithm to promote passing capability and efficiency in mixed traffic conditions. First, the behavioural characteristic of pedestrians, denoted as the pedestrian feature index, is estimated by a multi‐layer perception module input with quantitative analysis of pedestrian action. Based on estimation results, the decision algorithm merges pedestrian feature index into intelligent driver model and adjusts corresponding parameters, which used to be unchangeable so that the ego‐vehicle can make differential decisions according to various pedestrian features. Validation on the PIE dataset shows that the accuracy of pedestrian feature estimation is ensured. A simulation scenario is established utilizing cellular automata, and the results indicate that the proposed decision‐making algorithm can greatly improve passing efficiency under safety and manoeuvrability prerequisite. |
| first_indexed | 2024-03-12T23:06:16Z |
| format | Article |
| id | doaj.art-03c86d60fc84420fa528dd27ac251fe5 |
| institution | Directory Open Access Journal |
| issn | 1751-956X 1751-9578 |
| language | English |
| last_indexed | 2024-03-12T23:06:16Z |
| publishDate | 2023-07-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Intelligent Transport Systems |
| spelling | doaj.art-03c86d60fc84420fa528dd27ac251fe52023-07-18T15:38:52ZengWileyIET Intelligent Transport Systems1751-956X1751-95782023-07-011771454146610.1049/itr2.12335A differentiated decision‐making algorithm for automated vehicles based on pedestrian feature estimationYuning Wang0Heye Huang1Bo Zhang2Jianqiang Wang3State Key Laboratory of Automotive Safety and Energy Tsinghua University Beijing ChinaState Key Laboratory of Automotive Safety and Energy Tsinghua University Beijing ChinaDiDi Chuxing Beijing ChinaState Key Laboratory of Automotive Safety and Energy Tsinghua University Beijing ChinaAbstract One critical difficulty to high‐level automated driving is the decision‐making process of automated vehicles in complicated traffic environments, especially in situations mixed of pedestrians and vehicles. This paper proposes a differentiated decision‐making algorithm to promote passing capability and efficiency in mixed traffic conditions. First, the behavioural characteristic of pedestrians, denoted as the pedestrian feature index, is estimated by a multi‐layer perception module input with quantitative analysis of pedestrian action. Based on estimation results, the decision algorithm merges pedestrian feature index into intelligent driver model and adjusts corresponding parameters, which used to be unchangeable so that the ego‐vehicle can make differential decisions according to various pedestrian features. Validation on the PIE dataset shows that the accuracy of pedestrian feature estimation is ensured. A simulation scenario is established utilizing cellular automata, and the results indicate that the proposed decision‐making algorithm can greatly improve passing efficiency under safety and manoeuvrability prerequisite.https://doi.org/10.1049/itr2.12335automated vehiclesfeature estimationdecision‐makingpedestrianinteraction |
| spellingShingle | Yuning Wang Heye Huang Bo Zhang Jianqiang Wang A differentiated decision‐making algorithm for automated vehicles based on pedestrian feature estimation IET Intelligent Transport Systems automated vehicles feature estimation decision‐making pedestrian interaction |
| title | A differentiated decision‐making algorithm for automated vehicles based on pedestrian feature estimation |
| title_full | A differentiated decision‐making algorithm for automated vehicles based on pedestrian feature estimation |
| title_fullStr | A differentiated decision‐making algorithm for automated vehicles based on pedestrian feature estimation |
| title_full_unstemmed | A differentiated decision‐making algorithm for automated vehicles based on pedestrian feature estimation |
| title_short | A differentiated decision‐making algorithm for automated vehicles based on pedestrian feature estimation |
| title_sort | differentiated decision making algorithm for automated vehicles based on pedestrian feature estimation |
| topic | automated vehicles feature estimation decision‐making pedestrian interaction |
| url | https://doi.org/10.1049/itr2.12335 |
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