Verfügbarkeit: Planning universal on-road driving strategies for automated vehicles

Planning universal on-road driving strategies for automated vehicles:

Gespeichert in:

Bibliographische Detailangaben
1. Verfasser:	Heinrich, Steffen (VerfasserIn)
Format:	Abschlussarbeit Buch
Sprache:	English
Veröffentlicht:	Wiesbaden Springer [2018]
Schriftenreihe:	AutoUni–Schriftenreihe Band 119
Schlagworte:	Situation Awareness Autofahren Positionierung Fahrstreifen Autonomes Fahrzeug Fahrbahn Bahnplanung Straßenverkehr Bewegungsregelung Automation TJFM1 GPU programming automated vehicles autonomous driving decision making high-level maneuver selection automation motion planning on-road driving strategies on-road scenario self-driving cars trajectory planning UYQ Hochschulschrift
Online-Zugang:	Inhaltstext http://www.springer.com/ Inhaltsverzeichnis
Beschreibung:	X, 133 Seiten 21 cm x 14.8 cm
ISBN:	9783658219536 365821953X

Internformat

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Datensatz im Suchindex

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adam_text	TABLE OF CONTENTS LIST OF FIG U RES...................................................................... .. ........................... IX LIST OF TABLES................................................................... 1 INTRODUCTION, MOTIVATION AND STRUCTURE OF THE THESIS 1.1 MOTIVATION OF THE THESIS .................................. 1.2 THESIS RESEARCH QUESTIONS ............................... 1.3 THESIS CONTRIBUTIONS ....................................... 1.4 THESIS O U TLIN E ......................... .. ...................... 2 P RELIM IN ARIES .................................... ...................... 2.1 INTRODUCTION TO MOTION P LA N N IN G .................... 2.2 TERMINOLOGY ..................................................... 2.3 TAXONOMY OF PLANNING METHODS ................. .. . 2.4 MOTION PLANNING FOR AUTOMATED C A R S .............. 2.4.1 DIVERSITY OF DRIVING ENVIRONMENTS . . . 2.4.2 PLANNING ASSESSMENT CRITERIA AND DRIVING M O D E S.................... 2.5 PROBLEM STA TE M E N T ........................................................................ .. . 3 RELATED W O R K ............................................................. ................................. 3.1 FROM ADVANCED DRIVER ASSISTANCE SYSTEMS TOWARDS AUTOMATED CARS . 3.1.1 TRAJECTORY PLANNING................................................................... 3.1.2 ON-ROAD SWERVE PATH GENERATION............................................. 3.1.3 COLLISION CHECKING AND A V O ID AN C E.......................................... 3.2 OPTIMIZATION M E TH O D S ......................... .. ............................................ 3.3 DRIVING MODE SELECTION ........................................................................ 3.3.1 MULTI-LAYERED SEARCH SPACE REPRESENTATIONS ............................ 3.3.2 HIERARCHICAL DRIVING MODE STATE M ACH IN E............................... 3.3.3 END-TO-END MACHINE LEARNING APPROACHES............................... 4 A FRAMEWORK FOR UNIVERSAL DRIVING STRATEGY PLANNING . . ......................... 4.1 PLANNING IN HIGH DIMENSIONAL STATE S P A C E .......................................... 4.1.1 IDENTIFYING KEY COMPONENTS OF SAMPLING BASED PLANNING . . . 4.1.2 PSP INTEGRATION INTO EXISTING ARCHITECTURE............................... 4.1.3 CHALLENGES AND OPPORTUNITIES: MODELING A UNIVERSAL DRIVE . . 4.1.4 NON-FUNCTIONAL REQUIREMENTS: SAFETY, COMFORT AND ACCEPTANCE 4.2 PSP WORLD REPRESENTATIONS................................................................... 4.3 VISUALIZING HIGH DIMENSIONAL S O LU TIO N S ....................................... .. . 5 SAMPLING-BASED PLANNING IN PHASE SPACE . ....................................... 49 5.1 SCHEMATIC OF A COMPLETE PLANNING SEQUENCE ........... ........................... 49 1 1 ISSBOSSSW V O U I O I ^ M Q O S J S I TFC- OJ UJ 5.2 STATE SPACE SETUP AND EXPLORATION ........................................................ 50 5.2.1 STATE PROPAGATION STRATEGIES................................................ .. . 51 5.2.2 VEHICLE MOTION GUIDED SAM PLING............................................. 52 5.2.3 RANDOM STATE SA M P LIN G ........................................................... 53 5.3 TRAJECTORY PLAN N IN G ............................................................................... 53 5.3.1 GENERATING PATH SEGMENTS WITH CLOTHOIDS ............................... 53 5.3.2 GENERATING VELOCITY PROFILES ..................................................... 57 5.4 TRAJECTORY OPTIMIZATION......................................................................... 60 5.4.1 EXTENDED PLANNING HORIZON WITH MULTIPLE LAYERS .................... 60 5.4.2 DIRECTED GRAPH OPTIMIZATION USING DYNAMIC PROGRAMMING . . 64 5.4.3 OTHER PSP OPTIMIZATION M ETHODS............................................. 69 5.5 RULES AND HEURISTICS............................................................................... 69 5.5.1 SIMPLIFICATION OF THE STATE SPACE................................................ 71 5.5.2 HOW TO CHOOSE A PLANNING HORIZON LE N G TH ? ............................ 72 6 A UNIVERSAL APPROACH FOR DRIVING STRATEGIES ............................................... 75 6.1 MODELING DRIVING BEHAVIORS: COST FUNCTIONS ....................................... 75 6.1.1 STATE TRANSITION C O S TS .................................... 75 6.1.2 OPTIMIZING FOR A UNIVERSAL DRIVING EXPERIENCE ...................... 79 6.2 SITUATION AWARENESS: OBSERVING THE MOST RELEVANT TH IN G S ................. 82 6.2.1 OPTIMIZING THE VEHICLE S SENSOR COVERAGE ............................... 83 6.2.2 INTERPRETATION OF A SENSOR COVERAGE COST M A P ......................... 87 6.3 SIMULATION EXPERIMENTS ...................................................................... 88 6.3.1 VALIDATION OF DRIVING STRATEGY GENERATION ...................... .. 90 6.3.2 EVALUATION OF SMART POSITIONING ............................................. 93 6.3.3 PSP PERFORMANCE ANALYSIS ........................................................ 96 7 MODELING EGO MOTION UNCERTAINTY ................................................................... 103 7.1 WHY MODELING UNCERTAINTY M ATTERS ........................................................ 103 7.2 EGO MOTION UNCERTAINTY ......................................................................... 104 7.2.1 A POST-PROCESSING PLANNING EXTENSION ....................................... 105 7.2.2 STATE ESTIMATION AND MODEL CORRECTION ....................................... 109 7.2.3 RE-EVALUATE TRAJECTORY COLLISION PROBABILITY ............................... 110 7.2.4 COLLISION DETECTION ALGORITHM ..................................................... 112 7.3 SIMULATION EX P ERIM EN TS......................................................................... 113 8 SUMMARY, OUTLOOK AND CONTRIBUTIONS..............................................................117 R EFERENCES.................................................................................................................. 121 A SUPPLEMENTAL MATERIAL....................................................... 129
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series	AutoUni–Schriftenreihe
series2	AutoUni–Schriftenreihe
spelling	Heinrich, Steffen Verfasser aut Planning universal on-road driving strategies for automated vehicles Steffen Heinrich Wiesbaden Springer [2018] X, 133 Seiten 21 cm x 14.8 cm txt rdacontent n rdamedia nc rdacarrier AutoUni–Schriftenreihe Band 119 Dissertation Freie Universität Berlin 2017 Situation Awareness (DE-588)7852143-9 gnd rswk-swf Autofahren (DE-588)4267841-9 gnd rswk-swf Positionierung (DE-588)4140478-6 gnd rswk-swf Fahrstreifen (DE-588)4016310-6 gnd rswk-swf Autonomes Fahrzeug (DE-588)7714938-5 gnd rswk-swf Fahrbahn (DE-588)4153537-6 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf Straßenverkehr (DE-588)4057931-1 gnd rswk-swf Bewegungsregelung (DE-588)1135924376 gnd rswk-swf Automation (DE-588)4003957-2 gnd rswk-swf TJFM1 GPU programming automated vehicles autonomous driving decision making high-level maneuver selection automation motion planning on-road driving strategies on-road scenario self-driving cars trajectory planning UYQ (DE-588)4113937-9 Hochschulschrift gnd-content Autonomes Fahrzeug (DE-588)7714938-5 s Bahnplanung (DE-588)4267628-9 s Bewegungsregelung (DE-588)1135924376 s Autofahren (DE-588)4267841-9 s Automation (DE-588)4003957-2 s Situation Awareness (DE-588)7852143-9 s Straßenverkehr (DE-588)4057931-1 s Fahrbahn (DE-588)4153537-6 s Fahrstreifen (DE-588)4016310-6 s Positionierung (DE-588)4140478-6 s DE-604 Springer Fachmedien Wiesbaden (DE-588)1043386068 pbl Erscheint auch als Online-Ausgabe Heinrich, Steffen Planning universal on-road driving strategies for automated vehicles 978-3-658-21954-3 AutoUni–Schriftenreihe Band 119 (DE-604)BV035728696 119 X:MVB text/html http://deposit.dnb.de/cgi-bin/dokserv?id=d4f1aae3297f447ebb711a641bb5379e&prov=M&dok_var=1&dok_ext=htm Inhaltstext X:MVB http://www.springer.com/ DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=030323638&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis
spellingShingle	Heinrich, Steffen Planning universal on-road driving strategies for automated vehicles AutoUni–Schriftenreihe Situation Awareness (DE-588)7852143-9 gnd Autofahren (DE-588)4267841-9 gnd Positionierung (DE-588)4140478-6 gnd Fahrstreifen (DE-588)4016310-6 gnd Autonomes Fahrzeug (DE-588)7714938-5 gnd Fahrbahn (DE-588)4153537-6 gnd Bahnplanung (DE-588)4267628-9 gnd Straßenverkehr (DE-588)4057931-1 gnd Bewegungsregelung (DE-588)1135924376 gnd Automation (DE-588)4003957-2 gnd
subject_GND	(DE-588)7852143-9 (DE-588)4267841-9 (DE-588)4140478-6 (DE-588)4016310-6 (DE-588)7714938-5 (DE-588)4153537-6 (DE-588)4267628-9 (DE-588)4057931-1 (DE-588)1135924376 (DE-588)4003957-2 (DE-588)4113937-9
title	Planning universal on-road driving strategies for automated vehicles
title_auth	Planning universal on-road driving strategies for automated vehicles
title_exact_search	Planning universal on-road driving strategies for automated vehicles
title_full	Planning universal on-road driving strategies for automated vehicles Steffen Heinrich
title_fullStr	Planning universal on-road driving strategies for automated vehicles Steffen Heinrich
title_full_unstemmed	Planning universal on-road driving strategies for automated vehicles Steffen Heinrich
title_short	Planning universal on-road driving strategies for automated vehicles
title_sort	planning universal on road driving strategies for automated vehicles
topic	Situation Awareness (DE-588)7852143-9 gnd Autofahren (DE-588)4267841-9 gnd Positionierung (DE-588)4140478-6 gnd Fahrstreifen (DE-588)4016310-6 gnd Autonomes Fahrzeug (DE-588)7714938-5 gnd Fahrbahn (DE-588)4153537-6 gnd Bahnplanung (DE-588)4267628-9 gnd Straßenverkehr (DE-588)4057931-1 gnd Bewegungsregelung (DE-588)1135924376 gnd Automation (DE-588)4003957-2 gnd
topic_facet	Situation Awareness Autofahren Positionierung Fahrstreifen Autonomes Fahrzeug Fahrbahn Bahnplanung Straßenverkehr Bewegungsregelung Automation Hochschulschrift
url	http://deposit.dnb.de/cgi-bin/dokserv?id=d4f1aae3297f447ebb711a641bb5379e&prov=M&dok_var=1&dok_ext=htm http://www.springer.com/ http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=030323638&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA
volume_link	(DE-604)BV035728696
work_keys_str_mv	AT heinrichsteffen planninguniversalonroaddrivingstrategiesforautomatedvehicles AT springerfachmedienwiesbaden planninguniversalonroaddrivingstrategiesforautomatedvehicles

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