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Infrastructure-aided Automated Driving in Highly Dynamic Urban Environments

Lapoehn, Stephan and Heß, Daniel and Böker, Clarissa and Böhme, Heiko and Schindler, Julian (2021) Infrastructure-aided Automated Driving in Highly Dynamic Urban Environments. ITS World Congress 2021, 2021-09-11 - 2021-09-15, Hamburg, Deutschland.

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Automated driving without driver involvement requires that the automated driving system (ADS) is able to detect relevant environmental factors at any time and to make a prediction of the situational evolution within the planning horizon on this basis. However, in unclear traffic areas, a comprehensive detection from the first-person perspective cannot be guaranteed, which may result in safety issues, a defensive planning behavior of the automated vehicle and thus reduce the traffic flow. A system is presented that generates collision-free paths based on single-object predictions and a cyclic trajectory planning process, incorporating a traffic infrastructure, enhanced with sensors, processing and communication units. Within this work, the usefulness of infrastructure extensions for the support of connected and automated vehicle (CAV) is investigated in a complex intersection scenario with the help of the above-mentioned methods.

Item URL in elib:https://elib.dlr.de/140940/
Document Type:Conference or Workshop Item (Speech)
Additional Information:This work was funded by the German Federal Ministry of Transport and Digital Infrastructure within the project KoMoDnext (https://komodnext.org/, funding number 01MM19004C).
Title:Infrastructure-aided Automated Driving in Highly Dynamic Urban Environments
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Heß, DanielUNSPECIFIEDhttps://orcid.org/0000-0001-6976-4189UNSPECIFIED
Böker, ClarissaUNSPECIFIEDhttps://orcid.org/0000-0001-6737-4806UNSPECIFIED
Böhme, HeikoLandeshauptstadt DüsseldorfUNSPECIFIEDUNSPECIFIED
Schindler, JulianUNSPECIFIEDhttps://orcid.org/0000-0001-5398-8217UNSPECIFIED
Date:15 October 2021
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:automated driving, intelligent roadside infrastructure
Event Title:ITS World Congress 2021
Event Location:Hamburg, Deutschland
Event Type:international Conference
Event Start Date:11 September 2021
Event End Date:15 September 2021
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Road Transport
DLR - Research area:Transport
DLR - Program:V ST Straßenverkehr
DLR - Research theme (Project):V - NGC KoFiF (old)
Location: Braunschweig
Institutes and Institutions:Institute of Transportation Systems > Cooperative Systems, BS
Deposited By: Lapoehn, Stephan
Deposited On:09 Nov 2021 17:40
Last Modified:24 Apr 2024 20:41

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