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Title:

Safe and Non-Conservative Trajectory Planning for Autonomous Driving Handling Unanticipated Behaviors of Traffic Participants

Document type:
Konferenzbeitrag
Author(s):
Benciolini, Tommaso; Fink, Michael; Güzelkaya, Nehir; Wollherr, Dirk; Leibold, Marion
Abstract:
Trajectory planning for autonomous driving is challenging because the unknown future motion of traffic participants must be accounted for, yielding large uncertainty. Stochastic Model Predictive Control (SMPC)-based planners provide non-conservative planning, but do not rule out a (small) probability of collision. We propose a control scheme that yields an efficient trajectory based on SMPC when the traffic scenario allows, still avoiding that the vehicle causes collisions with traffic participa...     »
Book / Congress title:
Accepted to the 27th IEEE International Conference on Intelligent Transportation Systems
Year:
2024
Reviewed:
ja
Language:
en
Semester:
SS 24
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