‘Bike Lanes are White Lanes!’: The Social Implications of ...
Planning Autonomous Vehicles in the Absence of Speed Lanes using Lateral Potentials
20
IV 2012, Spain rkala.99k.org 5 th June, 2012 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, Alcalá de Henares, Spain, pp. 597-602.
description
Planning Autonomous Vehicles in the Absence of Speed Lanes using Lateral Potentials. Rahul Kala, Kevin Warwick. - PowerPoint PPT Presentation
Transcript of Planning Autonomous Vehicles in the Absence of Speed Lanes using Lateral Potentials
IV 2012, Spain rkala.99k.org5th June, 2012
Planning Autonomous Vehicles in the Absence of Speed Lanes using Lateral PotentialsRahul 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, Alcalá de Henares, Spain, pp. 597-602.
IV-2012, Spain, 5th June, 2012 2
Is speed lane traffic best?
Requires a deep thought!
When bad?
• Diverse widths
• Diverse speeds
• Indian traffic!
Disadvantages applicable
here?• Intelligent
Vehicles• Is future
diverse?
• Motorists between lanes?
IV-2012, Spain, 5th June, 2012 3
Problems?
Beyond imaginations
Controls
Vision
LocalizationPlanning
Coordination
IV-2012, Spain, 5th June, 2012 4
What we do?
Height of madness!
Squeeze In Get aside Overtake
Brake Brake Brake
Oops Struck
IV-2012, Spain, 5th June, 2012 5
How we do?
Its ‘not’ like planning a mobile robot
Fuzzy Inference System
Genetic Algorithms
Graph-based solutions
Hierarchical Planning
Potential
IV-2012, Spain, 5th June, 2012 6
LATERAL POTENTIALS
Simple, Elegant, Fast
IV-2012, Spain, 5th June, 2012 7
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.
IV-2012, Spain, 5th June, 2012 8
Planning
Longitudinal
Distance, Speed,
Acceleration measures
Lateral
Lateral Potentials
IV-2012, Spain, 5th June, 2012 9
The basics
and coordinate system of use
IV-2012, Spain, 5th June, 2012 10
Lateral Potentials
How would ‘you’ have done it?
IV-2012, Spain, 5th June, 2012 11
Considerations
• Decision 1: Clockwise or Anti-Clockwise?
• Decision 2: Magnitude?– Time to Collision (any?)– Distance Measure
IV-2012, Spain, 5th June, 2012 12
RESULTS
IV-2012, Spain, 5th June, 2012 13
Results - 1
IV-2012, Spain, 5th June, 2012 14
Results - 2
IV-2012, Spain, 5th June, 2012 15
Parameters
ParametersLateral Sensitivity
Longitudinal Sensitivity
Mixed Sensitivity
Cooperation
IV-2012, Spain, 5th June, 2012 16
Analysis -1
IV-2012, Spain, 5th June, 2012 17
Analysis - 2
IV-2012, Spain, 5th June, 2012 18
Analysis - 3
IV-2012, Spain, 5th June, 2012 19
Personal Advertisement
Obviously Recommended
IV-2012, Spain, 5th June, 2012 20
THANK YOU
Acknowledgements:
• Commonwealth Scholarship Commission in the United Kingdom
• British Council
