Driver Intent Prediction and Collision Avoidance With Barrier Functions

doi:10.1109/JAS.2023.123210

CORC > 自动化研究所 > 中国科学院自动化研究所 > 学术期刊 > IEEE/CAA Journal of Automatica Sinica

	Driver Intent Prediction and Collision Avoidance With Barrier Functions
	Yousaf Rahman; Abhishek Sharma; Mrdjan Jankovic; Mario Santillo; Michael Hafner
刊名	IEEE/CAA Journal of Automatica Sinica
	2023
卷号	10 期号:2 页码:365-375
ISSN号	2329-9266
DOI	10.1109/JAS.2023.123210
英文摘要	For autonomous vehicles and driver assist systems, path planning and collision avoidance algorithms benefit from accurate predictions of future location of other vehicles and intent of their drivers. In the literature, the algorithms that provide driver intent belong to two categories: those that use physics based models with some type of filtering, and machine learning based approaches. In this paper we employ barrier functions (BF) to decide driver intent. BFs are typically used to prove safety by establishing forward invariance of an admissible set. Here, we decide if the “target” vehicle is violating one or more possibly fictitious (i.e., non-physical) barrier constraints determined based on the context provided by the road geometry. The algorithm has a very small computational footprint and better false positive and negative rates than some of the alternatives. The predicted intent is then used by a control barrier function (CBF) based collision avoidance system to prevent unnecessary interventions, for either an autonomous or human-driven vehicle.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/50851]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Yousaf Rahman,Abhishek Sharma,Mrdjan Jankovic,et al. Driver Intent Prediction and Collision Avoidance With Barrier Functions[J]. IEEE/CAA Journal of Automatica Sinica,2023,10(2):365-375.
APA	Yousaf Rahman,Abhishek Sharma,Mrdjan Jankovic,Mario Santillo,&Michael Hafner.(2023).Driver Intent Prediction and Collision Avoidance With Barrier Functions.IEEE/CAA Journal of Automatica Sinica,10(2),365-375.
MLA	Yousaf Rahman,et al."Driver Intent Prediction and Collision Avoidance With Barrier Functions".IEEE/CAA Journal of Automatica Sinica 10.2(2023):365-375.