Planning Autonomous Vehicles in the Absence of Speed Lanes using Lateral Potentials

Rahul Kala, Kevin Warwick

Publication of paper: R. Kala, K. Warwick (2012) Planning autonomous vehicles in the absence of speed lanes using lateral potentials, Proceedings of the 2012 IEEE Intelligent Vehicles Symposium, Alcal de Henares, Spain, pp. 597-602. th 5 June, 2012 IV 2012, Spain rkala.99k.org

Is speed lane traffic best?

Requires a deep thought!

When bad? Diverse widths Diverse speeds

Disadvantages applicable here? Intelligent Vehicles Is future diverse? Motorists between lanes?

Indian traffic!

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Problems?
Beyond imaginations
Controls

Coordination

Vision

Planning

Localization

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What we do?
Height of madness!

Squeeze In

Get aside

Overtake

Brake Brake Brake

Oops Struck

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How we do?
Fuzzy Inference System

Genetic Algorithms

Graph-based solutions

Hierarchical Planning

Potential

Its not like planning a mobile robot

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LATERAL POTENTIALS
Simple, Elegant, Fast

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Artificial Potential Fields

A Primer

Source: Tiwari R, Shukla A, Kala R. (2013) Intelligent Planning for Mobile Robotics: Algorithmic Approaches, IGI Global Publishers, doi: 10.4018/978-1-4666-2074-2.
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Planning

Longitudinal

Lateral

Distance, Speed, Acceleration measures

Lateral Potentials

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The basics
and coordinate system of use

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Lateral Potentials
How would you have done it?

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Considerations
Decision 1: Clockwise or Anti-Clockwise? Decision 2: Magnitude? Time to Collision (any?) Distance Measure

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RESULTS

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Results - 1

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Results - 2

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Parameters
Lateral Sensitivity Longitudinal Sensitivity Parameters Mixed Sensitivity

Cooperation

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Analysis -1

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Analysis - 2

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Analysis - 3

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Personal Advertisement
Obviously Recommended

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Acknowledgements: Commonwealth Scholarship Commission in the United Kingdom

British Council

THANK YOU

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