About this book
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.
- A Framework for Universal Driving Strategy Planning
- Sampling-Based Planning in Phase Space
- A Universal Approach for Driving Strategies
- Modeling Ego Motion Uncertainty
- Scientists and students in the field of robotics, computer science, mechanical engineering
- Engineers in the field of vehicle automation, intelligent systems and robotics
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.
self-driving cars automated vehicles on-road driving strategies motion planning GPU programming trajectory planning autonomous driving decision making high-level maneuver selection automation on-road scenario