Autonomous Navigation in Interaction-Based Environments—A Case of Non-Signalized Roundabouts

Abstract

To reduce the number of collision fatalities at crossroads intersections, many countries have started replacing intersections with non-signalized roundabouts, forcing the drivers to be more situationally aware and to adapt their behaviors according to the scenario. A non-signalized roundabout adds to the autonomous vehicle planning challenge, as navigating such interaction-dependent scenarios safely, efficiently, and comfortably has been a challenge even for human drivers. Unlike traffic signal-controlled roundabouts, where the merging order is centrally controlled, driving a non-signalized roundabout requires the individual actor to make the decision to merge based on the movement of other interacting actors. Most traditional autonomous planning approaches use rule-based speed assignment for generating admissible motion trajectories, which work successfully in non-interaction-based driving scenarios. They, however, are less effective in interaction-based scenarios as they lack the necessary ability to adapt the vehicle's motion according to the evolving driving scenario. In this paper, we demonstrate an adaptive tactical behavior planner (ATBP) for an autonomous vehicle that is capable of planning human-like motion behaviors for navigating a nonsignalized roundabout, combining naturalistic behavior planning and tactical decision-making algorithm. The human driving simulator experiment used to learn the behavior planning approach and the ATBP design is described in this paper. Index Terms-Adaptive tactical behaviour planner, adaptive control, human factors, naturalistic driving, trajectory planning. I. INTRODUCTION C URRENTLY autonomous or self-driving vehicles are at the heart of academia and industry research because of their multi-faceted advantages that include improved safety, reduced congestion, lower emissions, greater mobility etc. Significant advancement in digital technology (sensing, processing etc.) has pushed the autonomous technology in ground vehicle Manuscript

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“…Compared with previous direct information interaction, the observability is stronger. For example, the information exchange between the robot and the camera, the robot sends the information to the PLC first, and then to the robot by the PLC [Axinte (2018); Rodrigues, McGordon, Gest et al (2018)]. This design can make all the fault information appear on the PLC with the alarm signal, and can be maintained directly, avoiding a lot of maintenance time.…”

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“…In [ 25 ], the concept of virtual platooning is adapted to roundabout crossing, where they used high definition maps with a curvilinear coordinates framework. Rodrigues et al [ 26 ] proposed an adaptive tactical behavior planner (ATBP) for CAVs, which is capable of planning human-like motion behaviors for navigating a non-signalized roundabout. The works [ 25 , 26 ] aimed to achieve roundabout collision avoidance for automated vehicles.…”

“…Rodrigues et al [ 26 ] proposed an adaptive tactical behavior planner (ATBP) for CAVs, which is capable of planning human-like motion behaviors for navigating a non-signalized roundabout. The works [ 25 , 26 ] aimed to achieve roundabout collision avoidance for automated vehicles. In [ 27 ], a rule-based roundabout management system was developed for optimal coordination of CAVs to improve its traffic performance.…”

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