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Autonomous driving at intersections: combining theoretical analysis with practical
considerations
ITS World Congress, Bordeaux, 2015
Arnaud de La Fortelle, Xiangjun QIANCenter for Robotics, MINES ParisTech
Autonomous driving at intersectionCongestion and blocking
Criteria that have to be balanced Related properties of the system
Safety Efficiency (traffic)
Planning Reactivity Resilience
Centralized Distributed Scaling, autonomy, short reaction time
Homogeneous Heterogeneous Scaling, standardization
Cooperative Self-optimized (egoistic) Social behavior, fairness, autonomy
Vehicle icurvilinear coordinate xi
Vehicle jcurvilinear coordinate xj
Physical spaceCoordination space
[Kant & Zucker 1988, Lavalle 1996, Laumond 1999]
18/10/2015 5
Homotopie classes
Physical space
2 1
1 2
Priority relationCoordination space18/10/2015 6
Physical spaceCoordination space
[Kant & Zucker 1988, Lavalle 1996, Laumond 1999]
09/04/2014 8Coordination de véhicules aux intersection
Priority graph
Relative order of vehicles to go through the intersection
Priority-based coordination framework
18/10/2015 9
Centralized PriorityAssignment Controller
Local VehicleController
Traffic related criteria;A complex combinatorial problem
Respect priorities!Optimization using ego vehicle related criteria;
Advantage: satisfy the needs of traffic authoritiesand ego vehicles
System snapshot
• Intersection controller assigns priorities to vehicles
• Vehicles cross the intersection respecting the assigned priorities
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