McAree, O., Aitken, J.M. orcid.org/0000-0003-4204-4020 and Veres, S.M. (2017) Towards artificial situation awareness by autonomous vehicles. In: IFAC-PapersOnLine. 20th IFAC World Congress, 09/07/2017 - 14/07/2017, Toulouse, France. Elsevier , pp. 7038-7043.
Abstract
This paper presents a novel approach to artificial situation awareness for an autonomous vehicle operating in complex dynamic environments populated by other agents. A key aspect of situation awareness is the use of mental models to predict future states of the environment, allowing safe and rational routing decisions to be made. We present a technique for predicting future discrete state transitions (such as the commencement of a turn) by other agents, based upon an uncertain mental model. Predictions take the form of univariate Gaussian Probability Density Functions which capture the inherent uncertainty in transition time whilst still providing great benefit to a decision making system. The prediction distributions are compared with Monte Carlo simulations and show an excellent correlation over long prediction horizons.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2017 IFAC. This is an author produced version of a paper subsequently published in IFAC-PapersOnLine. Uploaded in accordance with the publisher's self-archiving policy. Article available under the terms of the CC-BY-NC-ND licence (https://creativecommons.org/licenses/by-nc-nd/4.0/) |
Keywords: | Autonomous systems; Decision making and autonomy; Navigation; Safety; Human and vehicle interaction |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Funding Information: | Funder Grant number ENGINEERING AND PHYSICAL SCIENCE RESEARCH COUNCIL (EPSRC) EP/J011843/1 ENGINEERING AND PHYSICAL SCIENCE RESEARCH COUNCIL (EPSRC) EP/L024942/1 |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 12 Apr 2017 10:29 |
Last Modified: | 03 Nov 2017 12:06 |
Published Version: | https://doi.org/10.1016/j.ifacol.2017.08.1349 |
Status: | Published |
Publisher: | Elsevier |
Refereed: | Yes |
Identification Number: | 10.1016/j.ifacol.2017.08.1349 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:114736 |