Optimization of Velocity Ramps with Survival Analysis for Intersection Merge-Ins

Abstract

We consider the problem of correct motion planning for T-intersection merge-ins of arbitrary geometry and vehicle density. A merge-in support system has to estimate the chances that a gap between two consecutive vehicles can be taken successfully. In contrast to previous models based on heuristic gap size rules, we present an approach which optimizes the integral risk of the situation using parametrized velocity ramps. It accounts for the risks from curves and all involved vehicles (front and rear on all paths) with a so-called survival analysis. For comparison, we also introduce a specially designed extension of the Intelligent Driver Model (IDM) for entering intersections. We show in a quantitative statistical evaluation that the survival method provides advantages in terms of lower absolute risk (i.e., no crash happens) and better risk-utility tradeoff (i.e., making better use of appearing gaps). Furthermore, our approach generalizes to more complex situations with additional risk sources.

Intelligent Vehicles Symposium

References in corpus (2)

• Rigorous derivation of nonlinear scalar conservation laws from follow-the-leader type models via many particle limit
• Towards Cooperative Motion Planning for Automated Vehicles in Mixed Traffic

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• Comfortable Priority Handling with Predictive Velocity Optimization for Intersection Crossings
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• Proactive Risk Navigation System for Real-World Urban Intersections