Sampling-Based Threat Assessment Algorithms for Intersection Collisions Involving Errant Drivers
This paper considers the decision-making problem for a vehicle crossing a road intersection in the presence of other, potentially errant, drivers. This problem is considered in a game-theoretic framework, where the errant drivers are assumed to be capable of causing intentional collisions. Our ap...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
2010
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| Online Access: | http://hdl.handle.net/1721.1/60041 https://orcid.org/0000-0001-8576-1930 |
| _version_ | 1826209803512315904 |
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| author | Aoude, Georges How, Jonathan P. Luders, Brandon Douglas Pilutti, Tom E. |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Aoude, Georges How, Jonathan P. Luders, Brandon Douglas Pilutti, Tom E. |
| author_sort | Aoude, Georges |
| collection | MIT |
| description | This paper considers the decision-making problem for a vehicle crossing a road
intersection in the presence of other, potentially errant, drivers. This problem is considered in
a game-theoretic framework, where the errant drivers are assumed to be capable of causing
intentional collisions. Our approach is to simulate the possible behaviors of errant drivers using
RRT-Reach, a modi ed application of rapidly-exploring random trees. A novelty in RRT-Reach
is the use of a dual exploration-pursuit mode, which allows for e cient approximation of the
errant reachability set for some xed time horizon. Through simulation and experimental results
with a small autonomous vehicle, we demonstrate that this threat assessment algorithm can be
used in real-time to minimize the risk of collision. |
| first_indexed | 2024-09-23T14:30:54Z |
| format | Article |
| id | mit-1721.1/60041 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T14:30:54Z |
| publishDate | 2010 |
| record_format | dspace |
| spelling | mit-1721.1/600412022-10-01T21:34:53Z Sampling-Based Threat Assessment Algorithms for Intersection Collisions Involving Errant Drivers Aoude, Georges How, Jonathan P. Luders, Brandon Douglas Pilutti, Tom E. Massachusetts Institute of Technology. Department of Aeronautics and Astronautics How, Jonathan P. How, Jonathan P. Aoude, Georges Luders, Brandon Douglas This paper considers the decision-making problem for a vehicle crossing a road intersection in the presence of other, potentially errant, drivers. This problem is considered in a game-theoretic framework, where the errant drivers are assumed to be capable of causing intentional collisions. Our approach is to simulate the possible behaviors of errant drivers using RRT-Reach, a modi ed application of rapidly-exploring random trees. A novelty in RRT-Reach is the use of a dual exploration-pursuit mode, which allows for e cient approximation of the errant reachability set for some xed time horizon. Through simulation and experimental results with a small autonomous vehicle, we demonstrate that this threat assessment algorithm can be used in real-time to minimize the risk of collision. 2010-11-29T17:50:07Z 2010-11-29T17:50:07Z 2010-09 2010-09 Article http://purl.org/eprint/type/ConferencePaper http://hdl.handle.net/1721.1/60041 Aoude, et al. "Sampling-based assessment algorithms for intersection collisions involving errant drivers," IFAC Symposium on Intelligent Autonomous Vehicles, 2010. https://orcid.org/0000-0001-8576-1930 en_US http://iav2010.unile.it/CMSystem/modules/request.php?module=oc_program&action=summary.php&id=150 IFAC Symposium on Intelligent Autonomous Vehicles Attribution-Noncommercial-Share Alike 3.0 Unported http://creativecommons.org/licenses/by-nc-sa/3.0/ application/pdf |
| spellingShingle | Aoude, Georges How, Jonathan P. Luders, Brandon Douglas Pilutti, Tom E. Sampling-Based Threat Assessment Algorithms for Intersection Collisions Involving Errant Drivers |
| title | Sampling-Based Threat Assessment Algorithms for Intersection Collisions Involving Errant Drivers |
| title_full | Sampling-Based Threat Assessment Algorithms for Intersection Collisions Involving Errant Drivers |
| title_fullStr | Sampling-Based Threat Assessment Algorithms for Intersection Collisions Involving Errant Drivers |
| title_full_unstemmed | Sampling-Based Threat Assessment Algorithms for Intersection Collisions Involving Errant Drivers |
| title_short | Sampling-Based Threat Assessment Algorithms for Intersection Collisions Involving Errant Drivers |
| title_sort | sampling based threat assessment algorithms for intersection collisions involving errant drivers |
| url | http://hdl.handle.net/1721.1/60041 https://orcid.org/0000-0001-8576-1930 |
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