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VDI Wissensforum GmbH (ed.)

Autoreg 2019

Series: VDI-Berichte

Volume 2349 2019

Results in this title

J. Schucker, T. Kohlmann, U. Konigorski A Complete Concept for Combined Longitudinal and Lateral Trajectory Planning for Automated Driving on Highways S. 259-270

„… Abstract A complete concept for combined longitudinal and lateral trajectory planning for automated …” „… consisting of up to four polynomials. Using splines to describe the trajectory allows for planning future …” „… unexpected changes of the traffic situation. Keywords spline-based trajectory planning, lane change abort …”

D. Augustin, J. Schucker, J. Tschirner, M. Hofmann, U. Konigorski A Simulation-Based Reinforcement Learning Approach for Long-Term Maneuver Planning in Highway Traffic Scenarios S. 47-60

„… of the trajectory under consideration. In order to assess future driving situations, planning-based …” „… and trajectory planning need to asses the current traffic situation and its likely evolution. This is …” „… trajectory planning mostly focus on deterministic longitudinal motion prediction to describe vehicle …”

D. Augustin, M. Hofmann, U. Konigorski Prediction of Highway Lane Changes Based on Prototype Trajectories S. 111-128

„… trajectory planning. The opposite concept relying purely on physically-based motion prediction is only valid …” „… cut-in maneuvers is essential for risk-aware maneuver planning. In this paper, a statistical approach is …” „… early maneuver detection and uncertainty-aware trajectory prediction for traffic participants …”

Titelei/Inhaltsverzeichnis

„… Complete Concept for Combined Longitudinal and Lateral Trajectory Planning for Automated Driving on …” „… Learning Approach for Long-Term Maneuver Planning in Highway Traffic Scenarios …” „… Darmstadt Decentralized Path Planning for Cooperating Autonomous Vehicles …”

J. Ultsch, J. Brembeck, R. de Castro Learning-Based Path Following Control for an Over-Actuated Robotic Vehicle S. 25-46

„… capabilities, when facing unseen reference paths. 1 Introduction Besides perception and path planning …” „… trajectory. In order to safely follow the path the aim of the motion controller is to minimize the …” „… geometric path description in dependency of the arc length. In contrast to trajectory tracking control, path …”

S. Rothfuß, R. Prezdnyakov, M. Flad, S. Hohmann Decentralized Path Planning for Cooperating Autonomous Vehicles S. 271-284

„… . 403-406. [7] Tazaki, Y., Suzuki, T.: Multi-robot scheduling and trajectory planning using state roadmap …” „… Decentralized Path Planning for Cooperating Autonomous Vehicles Simon Rothfuß, Rinat …” „… driving is the automated path planning. The resulting paths need to collision-free which is challenge in …”

M. Dellermann, O. Gehring, O. Zirn Optimalsteuerung des Energieflusses in einem 48V-Bordnetz schwerer Nutzfahrzeuge S. 453-0

„… ] Heppeler, G.; Sonntag, M.; Sawodny, O.: Predictive planning of the battery state of charge trajectory for …”

E. Enders, F. Fent, M. Lienkamp, G. Burkhard, D. Schramm Objectification Methods for Ride Comfort – Comparison of Conventional Methods and Proposal of a new Method for Automated Driving Conditions S. 323-352

„… the comfort of the occupants and vertical dynamics only have a secondary effect [48]. The trajectory …” „… consequence upper limits are set for distances and accelerations related to the trajectory [22, 23]. It is …” „… involved in planning, preparation, conduct and analysis of both studies. Second author Georg Burkhard was …”

doi.org/10.51202/9783181023495

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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PRORETA 3: An Integrated Driver Assistance System S. 192-206

„… representation, trajectory planning, and Human Machine Interface (HMI) is given. Afterwards, a variety of driving …” „… upon the same holistic environment representation, the same integrated trajectory planning, and the …” „… and Behavior Planning), and Eric Bauer (Trajectory Planning). PRORETA 3 is the successor of PRORETA 1 …”

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 …” „… related work on short-term and long-term trajectory prediction, situation prediction, and criticality …”

Prediction and Criticality Assessment S. 132-191

„… planning • Inference • Classification 6.2 Related Work 137 6.2.1 Short-Term Trajectory Prediction Within …” „… of long-term trajectory prediction methods. Motion pattern-based [256] (a), via path planning [45] (b …” „… trajectory prediction and criticality assessment. After the introduction, related work on the subtopics …”

Parametric Free Space Maps S. 103-131

„… , which is vital not only for evasive trajectory planning but also for environment interpretation …” „… unreachable areas, which complicates subsequent tasks such as trajectory planning. In addition, the common …” „… analysis and trajectory planning and reduces the required transmission bandwidth even further. 5.3 …”

Environment Representations for ADAS S. 6-17

„… explicitly to permit safety-related trajectory planning, • be generable online in a computationally …” „… important for safety-related trajectory planning. As the outer boundary of the free space itself can be …” „… information quantitatively in a coordinate frame and are thus a prerequisite for tasks like trajectory …”

Titelei/Inhaltsverzeichnis

„… – Occupancy Grid Map – Parametric Free Space Map – Target Tracking – Trajectory Prediction This work deals …” „… , long-term trajectory prediction and criticality assessment system is introduced together with the …” „… Work . . . . . . . . . . . . . . . . . . . . . . . . . . 135 6.2.1 Short-Term Trajectory Prediction …”

doi.org/10.51202/9783186797124

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VDI Wissensforum GmbH (ed.)

ELIV 2021

Series: VDI-Berichte

Volume 2384 2021

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L. Gonzales-Fuentes, M. Harihar, M. Cassol Trajectory tracking using Neural Network for Autonomous Driving Systems S. 75-82

„… Technologies, Munich 1. Abstract Vehicle trajectory planning and tracking control are fundamental for …” „… planning determines the appropriate path whereas path tracking insures such trajectory is followed …” „… feedback control systems for agile flight trajectory [4] or linear time-invariant motion planning [5] have …”

A. Hohm, B. Hartmann, S. Khodaverdian, D. Bosch, B. Lattke, P. Keck The Evolution of Automation in Parking – Assisted, Automated, Autonomous S. 61-74

„… specific maneuver for this driving path is derived. Eventually, a trajectory for the longitudinal and …” „… ) are controlled to follow the given trajectory. Fig. 6 represents how this functional chain is working …” „… localization up to planning is running exclusively on infrastructure side. According to the architecture in …”

C. Cremers, P. Hubertus, R. Laszlo, M. Pfeifle, O. Muratov Augmented Reality Guidance based on 6D Positioning and HD Lanes S. 367-380

„… interfering with the planned trajectory. 1. Introduction AR apps for depicting guidance announcements …” „… account to calculate an optimal trajectory and guidance instructions. Using the 6 DoF pose (and HD maps …” „… filter-based optimization to find a consistent set of matches with respect to the vehicle trajectory observed …”

doi.org/10.51202/9783181023846

Georg Tanzmeister - Grid-based Environment Estimation for Local Autonomous Vehicle Navigation

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Georg Tanzmeister

Grid-based Environment Estimation for Local Autonomous Vehicle Navigation

Series: Mess-, Steuerungs- und Regelungstechnik

Volume 1246 2016

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Detection of Principal Moving Directions S. 40-63

„… and similar to [88], this method is aimed for local planning and therefore the trajectory endpoints do …” „… path planning problem rather than trajectory planning and to T as a set of paths. However, as a …” „… generated using a motion planning algorithm and is thus a valid data point. Hence, a single trajectory can …”

Evaluation S. 102-122

„… predicted trajectory, the same true positive rate as with using motion planning is achieved in this …” „… previous chapters already presented results. The path planning and clustering have already been evaluated …” „… environment with the predicted vehicle trajectory, as done by many grid-based road course estimation methods …”

Titelei/Inhaltsverzeichnis

„… performed by a robot, such as planning motions to fulfill tasks. It is particularly important in safety …” „… planning, and road course estimation have been developed. An objectand sensor-independent grid …” „… and Contribution . . . . . . . . . . . . . . . . . . . . . . 44 3.2 Local Path Planning with Unknown …”

Road Course and Road Boundary Estimation S. 87-101

„… . Rather than relying on the predicted vehicle trajectory, it uses motion planning to detect the principal …” „… planning horizons due to the predicted trajectory, such as with S-shaped curves. The number of road course …” „… orientation [19, 91, 168] or by using a motion model to calculate a predicted vehicle trajectory [37]. In [168 …”

Own Publications S. 136

„… . Wollherr, and M. Buss, “Path planning on grid maps with unknown goal poses,” in Proc. of the IEEE …” „… planning,” IEEE Transactions on Intelligent Transportation Systems, vol. 15, no. 5, pp. 2249–2260, Oct …” „… . Buss, “Environment-based trajectory clustering to extract principal directions for autonomous vehicles …”

Bibliography S. 137-154

„… Symposium, 2010, pp. 518–522. [182] J. Ziegler, P. Bender, T. Dang, and C. Stiller, “Trajectory planning for …” „… . Bekris, B. Chen, A. Ladd, E. Plaku, and L. Kavraki, “Multiple query probabilistic roadmap planning using …” „… single query planning primitives,” in Proc. of the IEEE/RSJ International Conference on Intelligent …”

Conclusion S. 123-126

„… principal moving directions, workspace cost evaluation for motion planning, and road course estimation have …” „… considered as path planning and path clustering. A local path planner has been developed that is able to …” „… efficiently plan a set of paths without goal poses to plan towards. Two different families of planning …”

Configuration Space Costs: Cost Evaluation on Workspace Cost Maps S. 64-86

„… planning applications. They may even take up to 99% of the total time of a planner [136], thus making them …” „… path or trajectory is usually important in practical applications, some form of cost representation …” „… evaluate both, costs and collisions, providing performance increases for motion planning algorithms. It is …”

Appendix S. 127-135

„… component, so that it is equal for all modules, such as mapping or path planning. The drift space has the …” „… section describes the smoother, which was used to generate the trajectory for the autonomous navigation …”

Grid-based Tracking and Mapping S. 10-39

„… used for demanding applications such as path or trajectory planning. Section 2.4.1 describes the …” „… Theory Map evaluation for path and trajectory planning, which is discussed in Chapter 4. Not only is it …” „… mobile robot system. It forms the basis needed by many other modules, in particular by motion planning …”

doi.org/10.51202/9783186246080

Martin Keller - Trajektorienplanung zur Kollisionsvermeidung im Straßenverkehr

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Martin Keller

Trajektorienplanung zur Kollisionsvermeidung im Straßenverkehr

Series: Verkehrstechnik/Fahrzeugtechnik

Volume 808 2017

Results in this title

Literatur S. 113-128

„… trajectory planning in dynamic on-road driving scenarios“. In: 2009 IEEE/RSJ In- 122 Literatur ternational …” „… . Dang und C. Stiller. „Trajectory planning for Bertha – A local, continuous method“. In: 2014 IEEE …” „… . B. Karumanchi und K. Iagnemma. „Constraint-based planning and control for safe, semi-autonomous …”

Titelei/Inhaltsverzeichnis

„… Model Predictive Planning and Control MPTSA Model Predictive Trajectory Set Approach MPTSC Model …” „… Predictive Trajectory Set Control MSR Motorschleppmomentenregelung NRMSE Normalised Root Mean Squared Error …” „… OTO Online-Trajectory Optimization PFA Path Following Approach PKW Personenkraftwagen RCP Rapid …”

Einleitung S. 1-13

„… . Online-Trajektorienoptimierungsverfahren (Online Trajectory Optimization – OTO), 3. Modellprädiktives Planungs- und Regelungsverfahren …” „… (Model Predictive Planning and Control – MPPC) und 4. Modellprädiktives Trajektorienscharverfahren (Model …” „… Predictive Trajectory Set Approach – MPTSA). Das Ziel der Arbeit ist es, die unterschiedlichen Eigenschaften …”

doi.org/10.51202/9783186808127

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