Chapter
Dec 14, 2021
A Decision-Making Model of Left-Turn Behavior for Autonomous Vehicles at Urban Intersections Using a Single-Vehicle Scenario
Authors: Xue-Mei Chen [email protected], Yang-Jia-Xin Ou [email protected], Zi-Jia Wang [email protected], and Meng-Xi Li [email protected]Author Affiliations
Publication: CICTP 2021
ABSTRACT
A left-turn decision-making model that considers information about surrounding vehicles at complex urban intersections is critical for the development of autonomous vehicles. Here, we propose an approach of developing algorithms for left-turn tactical-level decision-making to ensure autonomous vehicles can cross intersections safely. We collected trajectories data were at intersections. Then, a GPR model was trained to predict the trajectories of oncoming straight vehicles. After that, we proposed a conflict resolution method for left-turn behavior of autonomous vehicles at urban intersections and a driving action selection method that considers multiple factors, such as safety, efficiency, comfort and altruism. Finally, we built a simulation and verification platform for algorithm. The reliability and effectiveness of the tactical-level decision-making model was verified by both simulations and real road experiments. The results from this study can provide a theoretical basis for the in-depth study of left-turn driving decision-making in complex and uncertain intersection environments.
Get full access to this article
View all available purchase options and get full access to this chapter.
Information & Authors
Information
Published In
History
Published online: Dec 14, 2021
Permissions
Request permissions for this article.
Authors
Affiliations
1School of Mechanical Engineering, Beijing Institute of Technology, Beijing. Email: [email protected]
2School of Mechanical Engineering, Beijing Institute of Technology, Beijing. Email: [email protected]
3School of Mechanical Engineering, Beijing Institute of Technology, Beijing. Email: [email protected]
4School of Mechanical Engineering, Beijing Institute of Technology, Beijing. Email: [email protected]
Metrics & Citations
Metrics
Citations
Download citation
If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.
View Options
Get Access
Access content
Please select your options to get access
Log in/Register
Log in via your institution (Shibboleth)
ASCE Members:
Please log in to see member pricing
Purchase
Save for later Item saved, go to cart Information on ASCE Library Cards
ASCE Library Cards let you download journal articles, proceedings papers, and available book chapters across the entire ASCE Library platform. ASCE Library Cards remain active for 24 months or until all downloads are used. Note: This content will be debited as one download at time of checkout.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.
Get Access
Access content
Please select your options to get access
Log in/Register
Log in via your institution (Shibboleth)
ASCE Members:
Please log in to see member pricing
Purchase
Save for later Item saved, go to cart Information on ASCE Library Cards
ASCE Library Cards let you download journal articles, proceedings papers, and available book chapters across the entire ASCE Library platform. ASCE Library Cards remain active for 24 months or until all downloads are used. Note: This content will be debited as one download at time of checkout.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.