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Contingency Planning for Automated Vehicles

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/
Document Type:Conference or Workshop Item (Speech)
Title:Contingency Planning for Automated Vehicles
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Salvado, Joaojoaosalvado (at) ist.utl.ptUNSPECIFIED
Custódio, Luís M. M.lmmc (at) isr.ist.utl.ptUNSPECIFIED
Heß, Danieldaniel.hess (at) DLR.deUNSPECIFIED
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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