Motion Planning for Autonomous Vehicles in Partially Observable Environments

Unsicherheiten, welche aus Sensorrauschen oder nicht beobachtbaren Manöverintentionen anderer Verkehrsteilnehmer resultieren, akkumulieren sich in der Datenverarbeitungskette eines autonomen Fahrzeugs und führen zu einer unvollständigen oder fehlinterpretierten Umfeldrepräsentation. Dadurch weisen Bewegungsplaner in vielen Fällen ein konservatives Verhalten auf. Diese Dissertation entwickelt zwei Bewegungsplaner, welche die Defizite der vorgelagerten Verarbeitungsmodule durch Ausnutzung der Reaktionsfähigkeit des Fahrzeugs kompensieren. Diese Arbeit präsentiert zuerst eine ausgiebige Analyse über die Ursachen und Klassifikation der Unsicherheiten und zeigt die Eigenschaften eines idealen Bewegungsplaners auf. Anschließend befasst sie sich mit der mathematischen Modellierung der Fahrziele sowie den Randbedingungen, welche die Sicherheit gewährleisten. Das resultierende Planungsproblem wird mit zwei unterschiedlichen Methoden in Echtzeit gelöst: Zuerst mit nichtlinearer Optimierung und danach, indem es als teilweise beobachtbarer Markov-Entscheidungsprozess (POMDP) formuliert und die Lösung mit Stichproben angenähert wird. Der auf nichtlinearer Optimierung basierende Planer betrachtet mehrere Manöveroptionen mit individuellen Auftrittswahrscheinlichkeiten und berechnet daraus ein Bewegungsprofil. Er garantiert Sicherheit, indem er die Realisierbarkeit einer zufallsbeschränkten Rückfalloption gewährleistet. Der Beitrag zum POMDP-Framework konzentriert sich auf die Verbesserung der Stichprobeneffizienz in der Monte-Carlo-Planung. Erstens werden Informationsbelohnungen definiert, welche die Stichproben zu Aktionen führen, die eine höhere Belohnung ergeben. Dabei wird die Auswahl der Stichproben für das reward-shaped Problem durch die Verwendung einer allgemeinen Heuristik verbessert. Zweitens wird die Kontinuität in der Reward-Struktur für die Aktionsauswahl ausgenutzt und dadurch signifikante Leistungsverbesserungen erzielt. Evaluierungen zeigen, dass mit diesen Planern große Erfolge in Fahrversuchen und Simulationsstudien mit komplexen Interaktionsmodellen erreicht werden

Collaborative Engagement Approaches For Delivering Sustainable Infrastructure Projects In The AEC Sector: A Review

The public sector has traditionally financed and operated infrastructure projects using resources from taxes and various levies (e.g. fuel taxes, road user charges). However, the rapid increase in human population growth coupled with extended globalisation complexities and associated social/political/economic challenges have placed new demands on the purveyors and operators of infrastructure projects. The importance of delivering quality infrastructure has been underlined by the United Nations declaration of the Millennium Development Goals; as has the provision of ‘adequate’ basic structures and facilities necessary for the well-being of urban populations in developing countries. Thus, in an effort to finance developing countries’ infrastructure needs, most countries have adopted some form of public-private collaboration strategy. This paper critically reviews these collaborative engagement approaches, identifies and highlights 10 critical themes that need to be appropriately captured and aligned to existing business models in order to successfully deliver sustainable infrastructure projects. Research findings show that infrastructure services can be delivered in many ways, and through various routes. For example, a purely public approach can cause problems such as slow and ineffective decision-making, inefficient organisational and institutional augmentation, and lack of competition and inefficiency (collectively known as government failure). On the other hand, adopting a purely private approach can cause problems such as inequalities in the distribution of infrastructure services (known as market failure). Thus, to overcome both government and market failures, a collaborative approach is advocated which incorporates the strengths of both of these polarised positions

Vehicle Dispatching and Routing of On-Demand Intercity Ride-Pooling Services: A Multi-Agent Hierarchical Reinforcement Learning Approach

The integrated development of city clusters has given rise to an increasing demand for intercity travel. Intercity ride-pooling service exhibits considerable potential in upgrading traditional intercity bus services by implementing demand-responsive enhancements. Nevertheless, its online operations suffer the inherent complexities due to the coupling of vehicle resource allocation among cities and pooled-ride vehicle routing. To tackle these challenges, this study proposes a two-level framework designed to facilitate online fleet management. Specifically, a novel multi-agent feudal reinforcement learning model is proposed at the upper level of the framework to cooperatively assign idle vehicles to different intercity lines, while the lower level updates the routes of vehicles using an adaptive large neighborhood search heuristic. Numerical studies based on the realistic dataset of Xiamen and its surrounding cities in China show that the proposed framework effectively mitigates the supply and demand imbalances, and achieves significant improvement in both the average daily system profit and order fulfillment ratio

Opportunity costs calculation in agent-based vehicle routing and scheduling

In this paper we consider a real-time, dynamic pickup and delivery problem with timewindows where orders should be assigned to one of a set of competing transportation companies. Our approach decomposes the problem into a multi-agent structure where vehicle agents are responsible for the routing and scheduling decisions and the assignment of orders to vehicles is done by using a second-price auction. Therefore the system performance will be heavily dependent on the pricing strategy of the vehicle agents. We propose a pricing strategy for vehicle agents based on dynamic programming where not only the direct cost of a job insertion is taken into account, but also its impact on future opportunities. We also propose a waiting strategy based on the same opportunity valuation. Simulation is used to evaluate the benefit of pricing opportunities compared to simple pricing strategies in different market settings. Numerical results show that the proposed approach provides high quality solutions, in terms of profits, capacity utilization and delivery reliability

Smarter choices ?changing the way we travel. Case study reports

This report accompanies the following volume:Cairns S, Sloman L, Newson C, Anable J, Kirkbride A and Goodwin P (2004)Smarter Choices ? Changing the Way We Travel. Report published by theDepartment for Transport, London, available via the ?Sustainable Travel? section ofwww.dft.gov.uk, and from http://eprints.ucl.ac.uk/archive/00001224/

Look-ahead strategies for dynamic pickup and delivery problems

In this paper we consider a dynamic full truckload pickup and delivery problem with time-windows. Jobs arrive over time and are offered in a second-price auction. Individual vehicles bid on these jobs and maintain a schedule of the jobs they have won. We propose a pricing and scheduling strategy based on dynamic programming where not only the direct costs of a job insertion are taken into account, but also the impact on future opportunities. Simulation is used to evaluate the benefits of pricing opportunities compared to simple pricing strategies in various market settings. Numerical results show that the proposed approach provides high quality solutions, in terms of profits, capacity utilization, and delivery reliability