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]

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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

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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