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Authors: Emmanuel Alao 1 ; Lounis Adouane 1 and Philippe Martinet 2

Affiliations: 1 Université de Technologie de Compiègne (UTC), CNRS, Heudiasyc, Compiègne, France ; 2 Centre Inria d’Université Côte d’Azur, (INRIA), ACENTAURI, Sophia Antipolis, France

Keyword(s): Autonomous Vehicles, Autonomous Driving, Predictive Navigation, Risk Assessment and Risk Management, PLEVs, Multi-Modal Prediction, Multi-Risk.

Abstract: This paper presents an approach to autonomous vehicle navigation in urban environments with dynamic and multi-modal agents like Personal Light Electric Vehicles (PLEVs). The traditional Predictive Inter-Distance Profile (PIDP) risk assessment metric (Bellingard et al., 2023) is extended to handle multiple multi-modal motions using a fusion of PIDPs (F-PIDP). This approach accounts for the uncertainties in the various trajectories that PLEVs can follow on the road. A priority-based strategy is then developed to select the most dangerous agent. Then F-PIDP and Model Predictive Control (MPC) algorithm is employed for risk management, ensuring safe and reliable navigation. The efficiency of the proposed method is validated through several simulations.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Alao, E., Adouane, L. and Martinet, P. (2024). Multi-Risk Assessment and Management in the Presence of Personal Light Electric Vehicles. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-717-7; ISSN 2184-2809, SciTePress, pages 137-145. DOI: 10.5220/0013059500003822

@conference{icinco24,
author={Emmanuel Alao and Lounis Adouane and Philippe Martinet},
title={Multi-Risk Assessment and Management in the Presence of Personal Light Electric Vehicles},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2024},
pages={137-145},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013059500003822},
isbn={978-989-758-717-7},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Multi-Risk Assessment and Management in the Presence of Personal Light Electric Vehicles
SN - 978-989-758-717-7
IS - 2184-2809
AU - Alao, E.
AU - Adouane, L.
AU - Martinet, P.
PY - 2024
SP - 137
EP - 145
DO - 10.5220/0013059500003822
PB - SciTePress