Collaborative planning for mixed-autonomy lane merging

Shray Bansal, Akansel Cosgun, Alireza Nakhaei, Kikuo Fujimura

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

4 Citations (Scopus)

Abstract

Driving is a social activity: drivers often indicate their intent to change lanes via motion cues. We consider mixed-autonomy traffic where a Human-driven Vehicle (HV) and an Autonomous Vehicle (AV) drive together. We propose a planning framework where the degree to which the AV considers the other agent's reward is controlled by a selfishness factor. We test our approach on a simulated two-lane highway where the AV and HV merge into each other's lanes. In a user study with 21 subjects and 6 different selfishness factors, we found that our planning approach was sound and that both agents had less merging times when a factor that balances the rewards for the two agents was chosen. Our results on double lane merging suggest it to be a non-zero-sum game and encourage further investigation on collaborative decision making algorithms for mixed-autonomy traffic.

Original languageEnglish
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
EditorsCecilia Laschi
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages4449-4455
Number of pages7
ISBN (Electronic)9781538680940, 9781538680933
ISBN (Print)9781538680957
DOIs
Publication statusPublished - 27 Dec 2018
EventIEEE/RSJ International Conference on Intelligent Robots and Systems 2018 - Madrid, Spain
Duration: 1 Oct 20185 Oct 2018
https://www.iros2018.org/

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
PublisherIEEE, Institute of Electrical and Electronics Engineers
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems 2018
Abbreviated titleIROS 2018
CountrySpain
CityMadrid
Period1/10/185/10/18
Internet address

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