| Item type |
SIG Technical Reports(1) |
| 公開日 |
2025-01-16 |
| タイトル |
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|
タイトル |
A Framework for Non-Obstructive Maneuver Coordination of Autonomous Vehicles in Cooperative Driving Scenarios |
| タイトル |
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言語 |
en |
|
タイトル |
A Framework for Non-Obstructive Maneuver Coordination of Autonomous Vehicles in Cooperative Driving Scenarios |
| 言語 |
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言語 |
eng |
| キーワード |
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主題Scheme |
Other |
|
主題 |
自律移動技術とAI応用 |
| 資源タイプ |
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資源タイプ識別子 |
http://purl.org/coar/resource_type/c_18gh |
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資源タイプ |
technical report |
| 著者所属 |
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Hitachi Ltd., R&D Group |
| 著者所属 |
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Hitachi Ltd., R&D Group |
| 著者所属 |
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Hitachi Ltd., R&D Group |
| 著者所属 |
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Hitachi Astemo, Ltd., Technology Development Functional Div. |
| 著者所属(英) |
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|
en |
|
|
Hitachi Ltd., R&D Group |
| 著者所属(英) |
|
|
|
en |
|
|
Hitachi Ltd., R&D Group |
| 著者所属(英) |
|
|
|
en |
|
|
Hitachi Ltd., R&D Group |
| 著者所属(英) |
|
|
|
en |
|
|
Hitachi Astemo, Ltd., Technology Development Functional Div. |
| 著者名 |
Daniel, Gabriel
Yuki, Horita
Ryo, Inaba
Hidehiro, Toyoda
|
| 著者名(英) |
Daniel, Gabriel
Yuki, Horita
Ryo, Inaba
Hidehiro, Toyoda
|
| 論文抄録 |
|
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内容記述タイプ |
Other |
|
内容記述 |
Within the rapidly advancing domain of autonomous vehicle (AV) maneuvering, making considerate decisions and performing cooperative control by accounting for other vehicle's movements is paramount. One of the main challenges is to realize smooth maneuver coordination, which requires synchronizing with other vehicle's maneuvers and finding a stopping pose (position and posture) that does not obstruct other vehicle's movement. We present a novel framework that allows the AV to make such cooperative maneuver coordination by defining the action order of both AV and other vehicles and representing the other vehicle's path as an interference risk area. This allows the trajectory planner to dynamically search for a stopping pose that does not contain risk, resulting in a smooth coordination of cooperative maneuvers. We demonstrate the effectiveness of our proposed framework through experiments using an AV prototype in pass-by scenarios that require cooperative maneuver coordination. |
| 論文抄録(英) |
|
|
内容記述タイプ |
Other |
|
内容記述 |
Within the rapidly advancing domain of autonomous vehicle (AV) maneuvering, making considerate decisions and performing cooperative control by accounting for other vehicle's movements is paramount. One of the main challenges is to realize smooth maneuver coordination, which requires synchronizing with other vehicle's maneuvers and finding a stopping pose (position and posture) that does not obstruct other vehicle's movement. We present a novel framework that allows the AV to make such cooperative maneuver coordination by defining the action order of both AV and other vehicles and representing the other vehicle's path as an interference risk area. This allows the trajectory planner to dynamically search for a stopping pose that does not contain risk, resulting in a smooth coordination of cooperative maneuvers. We demonstrate the effectiveness of our proposed framework through experiments using an AV prototype in pass-by scenarios that require cooperative maneuver coordination. |
| 書誌レコードID |
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識別子タイプ |
NCID |
|
|
関連識別子 |
AB00006906 |
| 書誌情報 |
研究報告コラボレーションとネットワークサービス（CN）
巻 2025-CN-124,
号 39,
p. 1-8,
発行日 2025-01-16
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| ISSN |
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収録物識別子タイプ |
ISSN |
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収録物識別子 |
2758-8262 |
| Notice |
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SIG Technical Reports are nonrefereed and hence may later appear in any journals, conferences, symposia, etc. |
| 出版者 |
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言語 |
ja |
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出版者 |
情報処理学会 |
IPSJ-CN25124039.pdf (2.1 MB)
