Chapter 5.1: Fuzzy Logic
Key Contributions
- Design of a Fuzzy Inference System for the problem.
- Design of a decision making module for deciding the feasibility of overtaking purely based on the vehicle distances and speeds.
- Design of an evolutionary technique for optimization of such a fuzzy system.
- Using the designed fuzzy system enabling vehicles to travel through a crossing by introducing a virtual barricade.
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Chapter 5.2: Lateral Potentials
Key Contributions
- Modelling of lateral potentials suited for road scenarios to eliminate the known problems associated with the potential approaches.
- Modelling of potentials based on the principles of time to collision and cooperation apart from the distance measures for lateral planning of the vehicles.
- Use of obstacle and vehicle avoidance strategy parameters for higher order planning.
- Heuristic decision making in deciding these strategy parameters for real time planning.
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Chapter 5.3: Elastic Strip
Key Contributions
- Design of a method to quickly compute the optimal strategy for obstacle and vehicle avoidance, and the associated trajectory.
- Real-time optimization of the trajectory as the vehicle moves, making the resultant plan near-optimal.
- Using heuristics to ensure the travel plan is near-complete.
- Making the coordination strategy cooperative between vehicles.
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Chapter 6: Logic Based Planning
Key Contributions
- Vehicle behaviours in unorganized traffic are studied and identified.
- Each behaviour is modelled in an algorithm used for the motion of autonomous vehicles in unorganized traffic.
- In particular the complex behaviour of single lane overtaking is studied wherein a driver slips into the wrong lane to complete the overtake. The cases of initiation, cancelation and successful completion of the behaviour are studied.
- Driver aggression is studied and modelled as an algorithmic parameter in such traffic.
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