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Contingency Planning for Automated Vehicles in Urban Traffic

de Campos Salvado, Joao Pedro (2015) Contingency Planning for Automated Vehicles in Urban Traffic. Master's, Técnico Lisboa.

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Abstract

Imagine a world where everyone could get from point to point in an easy and safely way. Where elderly or even visually impaired would greatly benefit from autonomous driving. The Automotive Department of Institut für Verkehrssystemtechnik (Institute of Transportation Systems) of the Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR) Braunschweig is conducting research in the field of cooperative and automated vehicles driving in urban traffic. It is intended to develop a contingency planner for urban traffic that finds a solution in a 0.1[s] time frame. Anytime Search algorithms can be utilized in constrained contingency planning to compute a safe and feasible path in a free environment by taking advantage of an inflated heuristic and pre-computed motion primitives. In the offline phase of the contingency planner it is intended to develop a set of motion primitives, following a nonlinear system model, bounded by physical constraints which takes the burden of feasibility verification from the online phase, where time has a higher cost. The online phase is the search phase in which a graph of maneuver segments is constructed using the motion primitives. An improvement in the number of explored invalid nodes and runtime was verified in the experiments. In the first a reduction of twenty to sixty times and in the second it was accomplished a six to ten times faster search. The strategy implemented, where the inflated part of the overestimated heuristic could be utilized to make a better informed search, gives a framework for future adaptations.

Item URL in elib:https://elib.dlr.de/100185/
Document Type:Thesis (Master's)
Title:Contingency Planning for Automated Vehicles in Urban Traffic
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
de Campos Salvado, Joao PedroUNSPECIFIEDUNSPECIFIED
Date:November 2015
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:68
Status:Published
Keywords:Motion Planning, Maneuver Planning, Trajectory Planning, Collision Avoidance, Emergency Maneuvers, Combinatorial Search, A*, Motion Primitives
Institution:Técnico Lisboa
Department:Aerospace Engineering
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrzeugintelligenz (old)
Location: Braunschweig
Institutes and Institutions:Institute of Transportation Systems
Deposited By: Heß, Daniel
Deposited On:16 Dec 2015 15:31
Last Modified:16 Dec 2015 15:31

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