Collision Avoidance in Tightly-Constrained Environments without Coordination: a Hierarchical Control Approach
Xu Shen Edward L. Zhu Yvonne R. Stürz Francesco Borrelli Xu Shen Edward L. Zhu Yvonne R. Stürz Francesco Borrelli
We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are present. A two-level hierarchy is proposed: a high-level data-driven strategy predictor and a lower-level model-based feedback controller. The strategy predictor maps an encoding of a dynamic environment to a set of high-l...