Salvado, Joao and Custódio, Luís M. M. and Heß, Daniel (2016) Contingency Planning for Automated Vehicles. International Conference on Intelligent Robots and Systems, 9.-14. Okt. 2016, Daejeon, Korea.
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Abstract
Automated vehicles face several challenges when planning their actions in an uncertain and partially known urban environment. Creating optimal and feasible paths in those scenarios in a reduced runtime is a difficult problem. A planner adapted to a cluster of scenarios and integrated in an hierarchical planning system with other modules is a viable solution. Such a structure would require a behavioural planner to share computational resources between the planners. A contingency planner was developed for emergency situations in urban traffic, with the aim to compute a safe maneuver in a 0.1[s] time frame. In this paper, we present a continuing anytime based search algorithm, which allows the heuristic to be sensitive to the environment while preserving sub-optimally bound solution and completeness properties. It is provided simulation results for an emergency situation to demonstrate the efficiency of the proposed approach. An environment sensitive heuristic allows a better informed search, which we believe could be adaptable to a wide range of scenarios.
Item URL in elib: | https://elib.dlr.de/105062/ | ||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | ||||||||||||
Title: | Contingency Planning for Automated Vehicles | ||||||||||||
Authors: |
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Date: | 2016 | ||||||||||||
Refereed publication: | Yes | ||||||||||||
Open Access: | No | ||||||||||||
Gold Open Access: | No | ||||||||||||
In SCOPUS: | No | ||||||||||||
In ISI Web of Science: | No | ||||||||||||
Status: | Accepted | ||||||||||||
Keywords: | Autonomous Agents, Motion and Path Planning, Motion and Trajectory Generation | ||||||||||||
Event Title: | International Conference on Intelligent Robots and Systems | ||||||||||||
Event Location: | Daejeon, Korea | ||||||||||||
Event Type: | international Conference | ||||||||||||
Event Dates: | 9.-14. Okt. 2016 | ||||||||||||
Organizer: | IEEE/RSJ | ||||||||||||
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: | 18 Jul 2016 08:49 | ||||||||||||
Last Modified: | 18 Jul 2016 08:49 |
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