Driver Intention
This paper develops a correct-by-design controller for an autonomous vehicle interacting with opponent vehicles with unknown intentions. We define an intention-aware control problem incorporating epistemic uncertainties of the opponent vehicles and model their intentions as discrete-valued random variables. Then, we focus on a control objective specified as belief-space temporal logic specifications. From this stochastic control problem, we derive a sound deterministic control problem using stochastic expansion and solve it using shrinking-horizon model predictive control.
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The dataset contains the signal recording acquired on vehicle (car) drivers (ten experienced drivers and ten learner drivers) on the same 28.7 km route in the Silesian Voivodeship (in Polish województwo śląskie) in southern Poland. Experienced drivers performed the tasks in their own cars whereas the learner drivers performed the tasks under a supervison of a driving instructor in a specially marked cars (with L sign).
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The dataset consists of tracking data of over 23,000 vehicles travelling though five different roundabouts in Sydney, Australia. This data was collected by a vehicle outfitted with a ibeo.HAD Feature Fusion detection and tracking system. This system uses 6 ibeo LUX 4 beam, 25 Hz Lidar scanners to identify road users at a range of up to 200m, and has an on-board computer for classification and tracking, in real time.
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1283 Views