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A computational model of driving for autonomous vehicles

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  • Reece, Douglas A.
  • Shafer, Steven A.

Abstract

Driving models are needed by many researchers to improve traffic safety and to advance autonomous vehicle design. However, existing models of driving maneuver selection are generally too abstract and do not describe the computation needed to select actions after observing objects. In this paper we present a dynamic task analysis and use it to develop a computational model of driving in traffic. This model has been implemented in a driving program called Ulysses as part of our research program in robot vehicle development. Ulysses encodes legal, safe and practical driving rules as constraints on acceleration and lane selection. The application of constraints depends on particular objects in the world; thus, when constraints are evaluated, they show exactly where the driver needs to look at that moment. We explain the specific knowledge in Ulysses with illustrations from a series of driving scenarios of increasing complexity. We also briefly discuss the computer perception system that Ulysses needs. Finally, we describe how Ulysses drives a robot in a simulated environment provided by our new traffic simulator called PHAROS, which is similar in spirit to previous simulators (such as NETSIM) but far more detailed. Our new driving model is a key component for developing autonomous vehicles and intelligent driver aids that operate in traffic, and provides a new tool for traffic research in general.

Suggested Citation

  • Reece, Douglas A. & Shafer, Steven A., 1993. "A computational model of driving for autonomous vehicles," Transportation Research Part A: Policy and Practice, Elsevier, vol. 27(1), pages 23-50, January.
    • Handle: RePEc:eee:transa:v:27:y:1993:i:1:p:23-50
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    Cited by:

    1. Talebpour, Alireza & Mahmassani, Hani S. & Hamdar, Samer H., 2018. "Effect of information availability on stability of traffic flow: Percolation theory approach," Transportation Research Part B: Methodological, Elsevier, vol. 117(PB), pages 624-638.
    2. Correia, Gonçalo Homem de Almeida & van Arem, Bart, 2016. "Solving the User Optimum Privately Owned Automated Vehicles Assignment Problem (UO-POAVAP): A model to explore the impacts of self-driving vehicles on urban mobility," Transportation Research Part B: Methodological, Elsevier, vol. 87(C), pages 64-88.
    3. Ye, Lanhang & Yamamoto, Toshiyuki, 2018. "Modeling connected and autonomous vehicles in heterogeneous traffic flow," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 490(C), pages 269-277.
    4. Jafaripournimchahi, Ammar & Cai, Yingfeng & Wang, Hai & Sun, Lu & Yang, Biao, 2022. "Stability analysis of delayed-feedback control effect in the continuum traffic flow of autonomous vehicles without V2I communication," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 605(C).
    5. Ammar Jafaripournimchahi & Yingfeng Cai & Hai Wang & Lu Sun, 2022. "Environmental Analyses of Delayed-Feedback Control Effects in Continuum-Traffic Flow of Autonomous Vehicles," Sustainability, MDPI, vol. 14(18), pages 1-18, September.

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