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Matthias Schreiner - Bayesian Environment Representation, Prediction, and Criticality Assessment for Driver Assistance Systems

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Matthias Schreiner

Bayesian Environment Representation, Prediction, and Criticality Assessment for Driver Assistance Systems

Series: Verkehrstechnik/Fahrzeugtechnik

Volume 797 2016

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Summary and Outlook S. 207-211

„… ; the suppression of irrelevant free space information for simplified trajectory planning and …” „… interpretation; the explicit free space representation vital for safety-related evasive trajectory planning; and …” „… well as the two related filter applications occupancy grid mapping and target tracking. In this context …”

Introduction S. 1-5

„… question this thesis is based on is thus: 3. How can a system for long-term, multi-object trajectory …” „… ]. • Novel method for grid mapping and tracking in dynamic road environments [225,226]. – Novel grid-based …” „… filter combination for tracking jump Markov nonlinear systems in clutter. – Novel multiple model tracking …”

Titelei/Inhaltsverzeichnis S. I-XXII

„… – Occupancy Grid Map – Parametric Free Space Map – Target Tracking – Trajectory Prediction This work deals …” „… a novel method for grid mapping and tracking in dynamic environments. In addition, a maneuver-based …” „… , long-term trajectory prediction and criticality assessment system is introduced together with the …”

Parametric Free Space Maps S. 103-131

„… detection and a tracking part, which are both presented subsequently. Implementation and performance aspects …” „… segmentation by dynamic programming [11,12]. 1Vision-based methods that focus on the detection and tracking of …” „… , which is vital not only for evasive trajectory planning but also for environment interpretation …”

Publications and Supervisions S. 217-220

„… Trajectory Prediction and Criticality Assessment in Arbitrary Road Environments. IEEE Transactions on …” „… in Occupancy Grid Maps by Methods of Image Analysis and Dynamic B-Spline Contour Tracking. In Proc …” „… . Adamy. Bayesian, Maneuver-Based, Long-Term Trajectory Prediction and Criticality Assessment for Driver …”

Prediction and Criticality Assessment S. 132-191

„… . integration • Tracking filterbased prediction • Pattern recognition • Cost function minimization • Trajectory …” „… short-term trajectory prediction method via open-loop tracking filters. Although this kind of prediction is …” „… trajectory prediction and criticality assessment. After the introduction, related work on the subtopics …”

Bibliography S. 221-254

„… Trajectory Prediction using Bayesian Nonparametric Reachability Trees. In Proc. of the AIAA …” „… . Clapp. A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking. IEEE …” „… . I. Zia, and A. Yahya. An Implementation of Active Contour and Kalman Filter for Road Tracking. IAENG …”

Environment Representations for ADAS S. 6-17

„… information quantitatively in a coordinate frame and are thus a prerequisite for tasks like trajectory …” „… explicitly to permit safety-related trajectory planning, • be generable online in a computationally …” „… beneficial for object-based tracking of dynamic entities such as other vehicles, e.g. as realized in [21, 64 …”

Grid Mapping in Dynamic Environments S. 67-102

„… detecting and tracking the corruption-causing dynamic objects. This facilitates higher-level environment …” „… free space for trajectory planners, and provide an object-based, compact description of dynamic objects …” „… ] (and similarly in [244]), in which a particle filter-based tracking is used to infer the velocity of …”

Bayesian Inference for Nonlinear Filtering Tasks S. 18-66

„… environment representation: target tracking and occupancy grid mapping – both presented subsequently. 3.1 …” „… ︸︷︷︸ p(xk|z1:k−1) . (3.8) It is this formula that all Bayesian filtering and tracking algorithms try to …” „… assumptions (E), and with respect to their processing speed (PS). As we later use KFs/IFs for spline tracking …”

doi.org/10.51202/9783186797124

VDI Wissensforum GmbH - Fahrerassistenzsysteme und automatisiertes Fahren

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VDI Wissensforum GmbH (ed.)

Fahrerassistenzsysteme und automatisiertes Fahren

Series: VDI-Berichte

Volume 2394 2022

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T. Moers, C. Klas, A. Zlocki, L. Vater Real World Scenarios for the Safety Validation and Development of Highly Automated Driving Functions S. 121-130

„… sensor data and naturalistic driving behavior in the form of trajectory datasets. These trajectory …” „… development of automated driving, as depicted in Fig. 1. Naturalistic trajectory data can be used, for example …” „… , for developing models for predicting road user behavior, for evaluations of trajectory planning …”

P. Roßner, K. Felbel, A. Dettmann, A. C. Bullinger Do you want me to shift lanes? – Investigating automated driving strategies in urban areas S. 143-158

„… way The driving styles were designed differently regarding the longitudinal and lateral trajectory …” „… and could be recorded in sync with video, eye-tracking, physiological or driving data [12]. After each …”

doi.org/10.51202/9783181023945

VDI Wissensforum GmbH - Commercial Vehicles 2023

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VDI Wissensforum GmbH (ed.)

Commercial Vehicles 2023

Series: VDI-Berichte

Volume 2417 2023

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S. Han, G. Park, Y. Ahn, K. Huh Development of A Path-Tracking Controller for Tractor with Two Articulated Trailers Based on Model Predictive Control S. 247-260

„… tracking of the reference trajectory. To achieve precise path tracking performance for T-MUT vehicles, MPC …” „… . 1104–1109, IEEE, 2020. [11] Y. Hou and X. Xu, “High-speed lateral stability and trajectory tracking …” „… Development of A Path-Tracking Controller for Tractor with Two Articulated Trailers Based on Model …”

doi.org/10.51202/9783181024171

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VDI Wissensforum GmbH (ed.)

AUTOREG 2017

Series: VDI-Berichte

Volume 2292 2017

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T. Raste, A. Tarraf Flachheitsbasierte Trajektoriengenerierung und Folgeregelung mit modellprädiktiver und modellfreier Regelung S. 319-324

„… .; Müller, S.: Lateral Trajectory Tracking Control for Autonomous Vehicles. European Control Conference …” „… Control, Springer, 1998. [8] Kühne, F.; Lages, W.F.; Da Silva, J.M.G.: Mobile Robot Trajectory Tracking …” „… .: A flatness-based iterative method for reference trajectory generation in constraint NMPC. Int …”

B. C. Heinrich, D. Fassbender, H.-J. Wuensche Autonomous Cooperative Multi-Convoy Control for Off-Road-Scenarios S. 365-376

„… εi in tracking this desired path, it is transmitted to the successor. Here, let ε = [ ∆y ∆ψ ]ᵀ denote …” „… generation and trajectory control rely on the estimate of the (corrected) leader positions Pi−1. If the …” „… follower, we use vehicle tracking as described in [9] and path generation as described in [10]. The path is …”

M. Grotjahn, B. Luck, M. Feldt Nichtlineare adaptive Regelung und Störkraftkompensation für elektrische Gaspfadaktoren S. 337-352

„… behaviour is defined by a flatness based trajectory generator. It consists of a state variable filter state …” „… 978-3-519-02369-2 [Feld10] FELDT, MATTHIAS: Flatness-Based Control and Online Trajectory Generation for …” „… (IKMT). Köln : VDE, 2015 [MeLB12] MEHMOOD, A. ; LAGHROUCHE, S. ; BAGDOURI, M. EL: Position tracking …”

Z. Gong, U. Konigorski Entwicklung eines Regelungskonzeptes für einen selbstfahrenden Fahrsimulator S. 529-538

„… . Then, the trajectory tracking controller based on differential geometric methods stabilizes the …”

C.-E. Framing, T. Quack, F.-J. Heßeler, D. Abel Lokalisierung und Bewegungsprädiktion für vernetzte Fahrzeuge an städtischen Kreuzungen S. 79-90

„… beschreibt ein „Multiple Object Tracking“-Problem mit unbekannter Anzahl an Objekten, bei dem die Zuordnung …” „… , Ausgabe 1, 2014 [9] Houenou, A.; Bonnifait, P.: Vehicle trajectory prediction based on motion model and …”

C. Winter, R. de Castro Optimal Velocity Profile Generation for Semi-Autonomous Vehicles S. 129-142

„… van Keulen, Bram de Jager, Darren Foster, and Maarten Steinbuch, "Velocity trajectory optimization in …” „… Demeulenaere, Jan Swevers, Joris De Schutter, and Moritz Diehl, "Time-Optimal Path Tracking for Robots: A …”

doi.org/10.51202/9783181022924

VDI Wissensforum GmbH - Fahrerassistenzsysteme und automatisiertes Fahren 2018

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VDI Wissensforum GmbH (ed.)

Fahrerassistenzsysteme und automatisiertes Fahren 2018

Series: VDI-Berichte

Volume 2335 2018

Results in this title

D. Schneider, B. Schick, B. Huber, H. Lategahn Measuring method of function and quality of automated lateral control based on high-precision digital ”Ground Truth” maps S. 3-16

„… that the vehicle behavior and customer experience such as tracking performance, driver-vehicle …” „… sensor to tracking is possible. Position, direction and motion of the vehicle and its reference distance …” „… tracking. Particular attention was paid to the reuse of the original steering wheel with all functions …”

doi.org/10.51202/9783181023358

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