Planning Universal On-Road Driving Strategies for Automated Vehicles
Springer Fachmedien Wiesbaden GmbH (Verlag)
978-3-658-21953-6 (ISBN)
Steffen Heinrich describes a motion planning system for automated vehicles. The planning method is universally applicable to on-road scenarios and does not depend on a high-level maneuver selection automation for driving strategy guidance. The author presents a planning framework using graphics processing units (GPUs) for task parallelization. A method is introduced that solely uses a small set of rules and heuristics to generate driving strategies. It was possible to show that GPUs serve as an excellent enabler for real-time applications of trajectory planning methods. Like humans, computer-controlled vehicles have to be fully aware of their surroundings. Therefore, a contribution that maximizes scene knowledge through smart vehicle positioning is evaluated. A post-processing method for stochastic trajectory validation supports the search for longer-term trajectories which take ego-motion uncertainty into account.
About the Author
Steffen Heinrich has a strong background in robotics and artificial intelligence. Since 2009 he has been developing algorithms and software components for self-driving systems in research facilities and for automakers in Germany and the US.
Steffen Heinrich has a strong background in robotics and artificial intelligence. Since 2009 he has been developing algorithms and software components for self-driving systems in research facilities and for automakers in Germany and the US.
A Framework for Universal Driving Strategy Planning.- Sampling-Based Planning in Phase Space.- A Universal Approach for Driving Strategies.- Modeling Ego Motion Uncertainty.
| Erscheinungsdatum | 09.05.2018 |
|---|---|
| Reihe/Serie | AutoUni – Schriftenreihe |
| Zusatzinfo | XV, 133 p. 59 illus., 25 illus. in color. |
| Verlagsort | Wiesbaden |
| Sprache | englisch |
| Maße | 148 x 210 mm |
| Gewicht | 207 g |
| Themenwelt | Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik |
| Mathematik / Informatik ► Mathematik ► Analysis | |
| Technik ► Elektrotechnik / Energietechnik | |
| Technik ► Maschinenbau | |
| Schlagworte | Automated Vehicles • Autonomous Driving • Decision Making • GPU programming • high-level maneuver selection automation • Motion Planning • on-road driving strategies • on-road scenario • Self-driving Cars • Trajectory Planning |
| ISBN-10 | 3-658-21953-X / 365821953X |
| ISBN-13 | 978-3-658-21953-6 / 9783658219536 |
| Zustand | Neuware |
| Informationen gemäß Produktsicherheitsverordnung (GPSR) | |
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