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COR-MP: Conservation of Resources Model for Maneuver Planning

Karim Essalmi, Fernando Garrido, Fawzi Nashashibi

TL;DR

This work has developed a novel approach called COR-MP (Conservation of Resources model for Maneuver Planning), based on the Conservation of Resources theory, which provides in real-time a profit value that enables us to quantify the impact of a decision on the decision-maker.

Abstract

Decision-making for automated driving remains a challenging task. For their integration into real platforms, these algorithms must guarantee passenger safety and comfort while ensuring interpretability and an appropriate computational time. To model and solve this decision-making problem, we have developed a novel approach called COR-MP (Conservation of Resources model for Maneuver Planning). This model is based on the Conservation of Resources theory, a psychological concept applied to human behavior. COR-MP is based on various driving parameters, such as comfort, safety, or energy, and provides in real-time a profit value that enables us to quantify the impact of a decision on the decision-maker. Our method has been tested and validated through closed-loop simulations using RTMaps middleware, and preliminary results have been obtained by testing COR-MP on a real vehicle.

COR-MP: Conservation of Resources Model for Maneuver Planning

TL;DR

This work has developed a novel approach called COR-MP (Conservation of Resources model for Maneuver Planning), based on the Conservation of Resources theory, which provides in real-time a profit value that enables us to quantify the impact of a decision on the decision-maker.

Abstract

Decision-making for automated driving remains a challenging task. For their integration into real platforms, these algorithms must guarantee passenger safety and comfort while ensuring interpretability and an appropriate computational time. To model and solve this decision-making problem, we have developed a novel approach called COR-MP (Conservation of Resources model for Maneuver Planning). This model is based on the Conservation of Resources theory, a psychological concept applied to human behavior. COR-MP is based on various driving parameters, such as comfort, safety, or energy, and provides in real-time a profit value that enables us to quantify the impact of a decision on the decision-maker. Our method has been tested and validated through closed-loop simulations using RTMaps middleware, and preliminary results have been obtained by testing COR-MP on a real vehicle.

Paper Structure

This paper contains 11 sections, 1 equation, 5 figures, 1 table.

Table of Contents

  1. Introduction
  2. Related Work
  3. Conservation of Resources Theory
  4. Method
  5. Maneuvers
  6. Resources
  7. Methodology
  8. Results
  9. Simulation Results
  10. Vehicle Results
  11. Conclusions and Future Work

Figures (5)

  • Figure 2: Methodology of our approach.
  • Figure 3: Snapshots at different time step k of four different test cases obtained in simulation while testing COR-MP. CLL: Change Lane Left, KLA: Keep Lane Accelerate, KLS: Keep Lane Same speed, KLD: Keep Lane Decelerate.
  • Figure 4: Snapshot of the interface feedback while testing COR-MP in a real vehicle on highway. Left image: Front camera of the vehicle. Middle image: Maneuver viewer showing the decision proposed by our approach. Right image: Graphic view of the environment.
  • Figure 5: Comparison of lateral decisions between our approach, driver decisions, and diverse baselines on a section of a 5-lane highway. NLC: No Lane Change, CLR: Change Lane Right, CLL: Change Lane Left.
  • Figure 6: The vehicle serves to test our approach.