LZ

L. Zhang

3 records found

We propose an integrated behavior and motion planning framework for the lane-merging problem. The behavior planner combines search-based planning with game theory to model vehicle interactions and plan multivehicle trajectories. Inspired by human drivers, we model the lane-mergin ...
One of the critical challenges in automated driving is ensuring safety of automated vehicles despite the unknown behavior of the other vehicles. Although motion prediction modules are able to generate a probability distribution associated with various behavior modes, their probab ...
In this paper, we propose a novel behavior planner that combines game theory with search-based planning for automated lane merging. Specifically, inspired by human drivers, we model the interaction between vehicles as a gap selection process. To overcome the challenge of mult ...