Decision making framework for autonomous vehicles driving behavior in complex scenarios via hierarchical state machine

Multipolicy decision-making for autonomous driving via changepoint-based behavior prediction: Theory and experiment

This paper reports on an integrated inference and decision-making approach for autonomous driving that models vehicle behavior for both our vehicle and nearby vehicles as a discrete set of closed-loop policies. Each policy captures a distinct high-level behavior and intention, such as driving along a lane or turning at an intersection. We first employ Bayesian changepoint detection on the obser...

Multipolicy Decision-Making for Autonomous Driving via Changepoint-based Behavior Prediction

To operate reliably in real-world traffic, an autonomous car must evaluate the consequences of its potential actions by anticipating the uncertain intentions of other traffic participants. This paper presents an integrated behavioral inference and decision-making approach that models vehicle behavior for both our vehicle and nearby vehicles as a discrete set of closedloop policies that react to...

Combination of autonomous and controlled vehicles in driving simulator scenarios

This paper presents a design methodology for driving simulator scenarios in which autonomous and controlled surrounding vehicles are combined. The main motives are to achieve both a high realism and high reproducibility. The methodology is introduced using a theater metaphor in which a driving simulator scenario is defined as a constellation of: everyday life driving, preparations for plays, an...

A ’Cognitive Driving Framework’ for Collision Avoidance in Autonomous Vehicles

The Cognitive Driving Framework is a novel method for forecasting the future states of a multi-agent system that takes into consideration both the intentions of the agents as well as their beliefs about the environment. This is particularly useful for autonomous vehicles operating in an urban environment. The algorithm maintains a posterior probability distribution over agent intents and belief...

Behavior Based Decision Control in Autonomous Vehicles: