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International Conference on Innovative Techniques and Applications of Artificial Intelligence

SGAI-AI 2021: Artificial Intelligence XXXVIII pp 327–340Cite as

Adaptive Maneuver Planning for Autonomous Vehicles Using Behavior Tree on Apollo Platform

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13101))

Abstract

In safety-critical systems such as autonomous driving systems, behavior planning is a significant challenge. The presence of numerous dynamic obstacles makes the driving environment unpredictable. The planning algorithm should be safe, reactive, and adaptable to environmental changes. The paper presents an adaptive maneuver planning algorithm based on an evolving behavior tree created with genetic programming. In addition, we make a technical contribution to the Baidu Apollo autonomous driving platform, allowing the platform to test and develop overtaking maneuver planning algorithms.

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Acknowledgements

The reported study was supported by RFBR, research Project No. 18-29-22027.

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Authors and Affiliations

  1. Moscow Institute of Physics and Technology, 141701, Dolgoprudny, Russia

    Mais Jamal & Aleksandr Panov

  2. Federal Research Center “Computer Science and Control” of the Russian Academy of Sciences, 117312, Moscow, Russia

    Aleksandr Panov

Authors
  1. Mais Jamal
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  2. Aleksandr Panov
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Corresponding author

Correspondence to Mais Jamal .

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Editors and Affiliations

  1. University of Portsmouth, Portsmouth, UK

    Max Bramer

  2. RKE Consulting, Micheldever, UK

    Richard Ellis

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Jamal, M., Panov, A. (2021). Adaptive Maneuver Planning for Autonomous Vehicles Using Behavior Tree on Apollo Platform. In: Bramer, M., Ellis, R. (eds) Artificial Intelligence XXXVIII. SGAI-AI 2021. Lecture Notes in Computer Science(), vol 13101. Springer, Cham. https://doi.org/10.1007/978-3-030-91100-3_26

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  • DOI: https://doi.org/10.1007/978-3-030-91100-3_26

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-91099-0

  • Online ISBN: 978-3-030-91100-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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