TY - GEN
T1 - Unveiling the Road Ahead - An MPC-Based Approach for Autonomous Intersection Navigation with Occlusion
AU - Zhang, Zheyu
AU - Jiang, Jingjing
AU - Chen, Wen Hua
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Occluded intersections pose challenges and potential danger for autonomous vehicles (AVs) operating in partly unknown environments. The limited visibility caused by occlusions introduces uncertainties and risks in decision-making processes. This paper proposes a Model Predictive Control (MPC)-based motion planning approach for AVs at occluded intersections, aiming to ensure safety while maximizing travel efficiency. The proposed approach guarantees safety by considering the worstcase scenario, reducing computational complexity and avoiding subjective tolerance of collision risk. It integrates risk assessment into the MPC-based motion planning process, allowing the AV to actively learn the environment and optimize its path. By consistently updating environmental information, the AV gradually eliminates risks. Simulation results demonstrate the effectiveness of the proposed method in achieving safe and efficient navigation at occluded intersections.
AB - Occluded intersections pose challenges and potential danger for autonomous vehicles (AVs) operating in partly unknown environments. The limited visibility caused by occlusions introduces uncertainties and risks in decision-making processes. This paper proposes a Model Predictive Control (MPC)-based motion planning approach for AVs at occluded intersections, aiming to ensure safety while maximizing travel efficiency. The proposed approach guarantees safety by considering the worstcase scenario, reducing computational complexity and avoiding subjective tolerance of collision risk. It integrates risk assessment into the MPC-based motion planning process, allowing the AV to actively learn the environment and optimize its path. By consistently updating environmental information, the AV gradually eliminates risks. Simulation results demonstrate the effectiveness of the proposed method in achieving safe and efficient navigation at occluded intersections.
KW - Model Predictive Control (MPC)
KW - Motion Planning
KW - Occluded Intersections
KW - Safety Guarantees
UR - http://www.scopus.com/inward/record.url?scp=85180122707&partnerID=8YFLogxK
U2 - 10.1109/IAVVC57316.2023.10328095
DO - 10.1109/IAVVC57316.2023.10328095
M3 - Conference article published in proceeding or book
AN - SCOPUS:85180122707
T3 - IAVVC 2023 - IEEE International Automated Vehicle Validation Conference, Proceedings
BT - IAVVC 2023 - IEEE International Automated Vehicle Validation Conference, Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE International Automated Vehicle Validation Conference, IAVVC 2023
Y2 - 16 October 2023 through 18 October 2023
ER -