Parameter Adjustments in POMDP-Based Trajectory Planning for Unsignalized Intersections

Adam Kollarčík, Adam Kollarčík, Zdeněk Hanzálek

2024

Abstract

This paper investigates the problem of trajectory planning for autonomous vehicles at unsignalized intersections, specifically focusing on scenarios where the vehicle lacks the right of way and yet must cross safely. To address this issue, we have employed a method based on the Partially Observable Markov Decision Processes (POMDPs) framework designed for planning under uncertainty. The method utilizes the Adaptive Belief Tree (ABT) algorithm as an approximate solver for the POMDPs. We outline the POMDP formulation, beginning with discretizing the intersection’s topology. Additionally, we present a dynamics model for the prediction of the evolving states of vehicles, such as their position and velocity. Using an observation model, we also describe the connection of those states with the imperfect (noisy) available measurements. Our results confirmed that the method is able to plan collision-free trajectories in a series of simulations utilizing real-world traffic data from aerial footage of two distinct intersections. Furthermore, we studied the impact of parameter adjustments of the ABT algorithm on the method’s performance. This provides guidance in determining reasonable parameter settings, which is valuable for future method applications.

Paper Citation

in Harvard Style

Kollarčík A. and Hanzálek Z. (2024). Parameter Adjustments in POMDP-Based Trajectory Planning for Unsignalized Intersections. In Proceedings of the 10th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS; ISBN 978-989-758-703-0, SciTePress, pages 522-529. DOI: 10.5220/0012742400003702

in Bibtex Style

@conference{vehits24,
author={Adam Kollarčík and Zdeněk Hanzálek},
title={Parameter Adjustments in POMDP-Based Trajectory Planning for Unsignalized Intersections},
booktitle={Proceedings of the 10th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS},
year={2024},
pages={522-529},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012742400003702},
isbn={978-989-758-703-0},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 10th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS
TI - Parameter Adjustments in POMDP-Based Trajectory Planning for Unsignalized Intersections
SN - 978-989-758-703-0
AU - Kollarčík A.
AU - Hanzálek Z.
PY - 2024
SP - 522
EP - 529
DO - 10.5220/0012742400003702
PB - SciTePress