Motion Planning For Multiple Autonomous Vehicles, PHD Thesis Defense Presentation

Motion Planning for Multiple Autonomous Vehicles
Into an automated, cooperative, diverse and integrated futuristic transportation system
Rahul Kala
25th June, 2013 School of Systems, Engineering, University of Reading rkala.99k.org
Organized and Unorganized Traffic

A distant future where all vehicles would
autonomously be driven would be preceded by a transient period where automated and nonautomated vehicles coexist.
Vanholme, B.; et al. "Highly Automated Driving on Highways Based on Legal Safety," IEEE Transactions on Intelligent Transportation Systems, vol.14, no.1, pp.333-347, March 2013
Motion Planning for Multiple Autonomous Vehicles rkala.99k.org
Organized and Unorganized Traffic
Unorganized
Organized
Image Courtesy: railway-technical.com, blogs.abc.net.au

Thesis
Thesis
Trajectory Generation
Intelligent Management of the Transportation System
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Trajectory Generation
Static Obstacles
B C a
Select the best plan:

(a) A overtakes B from right, B drifts left, A crosses the obstacles, C waits, (b) A follows B and both cross the obstacles while C waits, (c) B crosses the obstacles followed by C and A, (d) C crosses the obstacle a from its left, while A follows B to cross the others
Intelligent Management of the Transportation System

Routing objective/ considerations Bookings Routing frequency
Entirely semiautonomous, mixed, manual
Recurrent or nonrecurrent
Lane change
Traffic Lights
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Genetic Algorithm
Overtake seems to be too close, ask R2 to slow
Coordination using traffic heuristics
R2 R1 R3
R3 lies directly ahead, ask R3 to drift to its left
GA optimized trajectories
Under revision: Applied Soft Computing, IF: 2.140

RRT
More exploration at the central areas
Less exploration at the extremes
In Proc. IEEE Cybernetic Intelligent Systems, Docklands, London, pp. 20-25

RRT Connect
If prospective collision with a vehicle in the same direction If you cannot overtake, follow Speed equal to the heading vehicle and re-plan
Tree expansions
If going straight ahead possible, go
If prospective collision with a vehicle in the opposite direction: Decrease speed iteratively and re-plan till a feasible plan is reached
Paladyn Journal of Behavioural Robotics, 2(3): 134-144.

Multi-Level Planning
Layer 1: Road Selection.

Blue=selected road. Red= Road graph
Layer 2: Pathway Selection.

Collaboratively decide whether each vehicle goes through left or right of an obstacle. Blue=selected pathway. Red=Entire Pathway Graph
Layer 3:Pathway Distribution. At each slice (pathway

segment) the expected vehicles at the same time are placed. Red=computed points for the vehicle, Blue=Rough trajectory joining the placement points, Green=Other expected vehicle
Equal distribution of pathway
Layer 4: Trajectory Generation. Smoothing, collision

checking, local optimization
J. Intell. Rob. Syst, DOI:10.1007/s10846-013-9817-7, IF: 0.827
Dynamic Distributed Lanes

Check for all strategies in parallel Use strategy selection heuristics to prune expansion
Use separation maximization heuristic to place all vehicles in the next state
Modify lanes and trajectories of all vehicles
Any general state in graph search Known trajectory for the state for the higher priority vehicles
Overtake Red?, or Follow Red?, or Wait for green to cross obstacle? try all 3 possibilities
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Fuzzy Logic
Rules
Inputs
Angle deviation from road Distance from left, right and front boundary/ obstacle Turn to avoid obstacle/ overtake vehicle in front
Prototype human designed
Later optimized by Genetic Algorithm
Outputs
Side: distance of vehicle in wrong side
Fuzzy Inference System
Steering
Speed
Requested turn: turn to enable another vehicle to overtake
Overtake feasibility assessment

Choose between overtaking and vehicle following
Frame inputs accordingly

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Lateral Potentials
Add potential from all sources, each source indicates whether to steer left or right, and by what magnitude
Side Potential:
Diagonal Potential:
turn right, inversely turn right, inversely proportional to distance proportional to distance
Back Potential: right/left

decided by heuristics/ strategy parameter, time to collision
Forward Potential: right/left

decided by heuristics/ strategy parameter, time to collision
Side Potential: turn left,

inversely proportional to distance
Diagonal Potential: turn left,

inversely proportional to distance
In Proc. IEEE Intelligent Vehicles Symposium, Alcal de Henares, Spain, pp. 597-602.
Elastic Strip
Elastic Strip representing trajectory
Repulsive potentials on strip from vehicles, obstacles, road boundaries
Assign highest safe speed as per current position, trim plan such that it is feasible
Projected position at the time of arrival
On seeing any new vehicle/ obstacle, try both overtaking from left and right and pick the better plan
IEEE Trans. on Intell. Transp. Syst., DOI: 10.1109/TITS.2013.2266355, IF: 3.064

Logic Based Planning

Assess Scenario Find the highest priority applicable behaviour Navigate as per the selected behaviour Cater to in behaviour specifications
Behaviours in decreasing order of priority

Obstacle Avoidance Centring Lane Change Overtake Single lane overtake Slow Down
Cancel single lane overtake
Complete single lane overtake
Be overtaken
Maintain Separation Steer
Discover Conflicting Interests

Travel Straight
Engineering Applications of Artificial Intelligence, 26(5-6): 15881601.

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Semi-Autonomous Intelligent Transportation System

Lane Booking Booking Specifications Booked? Booked? Speed Lane Module Speed Limit Vehicle Route Planning Lane change, Follow, Stop/Start, Turn Vehicle Vehicle Motion Control Planning Road Booking
Speed of vehicles at lanes Traffic Central Information Info. Scenario System Specification Map/Initial Traffic at roads conditions Signal state Traffic Signal Position/ Module Speed
Vehicle Monitoring
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Congestion Avoidance in City Traffic
Make frequent effective short term plans

(i) Expected travel time (iii) Expected time to wait at crossings
Hypothesis
(Re-)Plan at every crossing
Minimize
Plan for a threshold distance from the source
Assume it is possible to reach the goal from the planned state
(ii) Expected traffic density
Like human drivers always see the current traffic and take the best route towards the goal, assuming no dead ends
Reaching Destination before Deadline with Intelligent Transportation Systems

Speed assumed for route planning = Learnt Average Speed - .Learnt Deviation
Intelligent Agents Placed at every intersection
More importance of reaching on time = more resistance to risk = earlier start time = high probability of reaching = higher , and vice versa High deviation = vehicles in that road vary largely in speed = road is less reliable and should be avoided = larger resistance to risk, and vice versa
Monitor all incoming vehicles. Learn average speed and variation
Road Network Graph

Road
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Reaching Destination before Deadline with Cooperative Intelligent Transportation Systems

Vehicle States
Give Up State
Various times at every intersection Times in increasing order

Cancel Time
Cooperative ITS Cooperative Traffic Lights Cooperative Lane Changes
Very Late State
Late Time Expected Time
Late State
Comfortable State
Change lights with a preference to the vehicles running late
Change lane to make way for the vehicle running more late
Cost of lateness
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Results
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Conclusions
Situational assessment Context assessment Algorithm switching Studying the problems in local settings, using regional data sets
The future is unknown and diverse!
rkala.99k.org
Acknowledgements: Commonwealth Scholarship Commission in the United Kingdom British Council
Thank You

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Motion Planning for Multiple Autonomous Vehicles

Into an automated, cooperative, diverse and integrated futuristic transportation system

Organized and Unorganized Traffic

Organized and Unorganized Traffic

Image Courtesy: railway-technical.com, blogs.abc.net.au

Intelligent Management of the Transportation System