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Fachbereich Mathematik und Informatik/Informatik/

Dahlem Center for Machine Learning and Robotics

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  • Realtime sampling-based trajectory generation in highway driving scenarios

André Zoufahl:

Realtime sampling-based trajectory generation in highway driving scenarios

Kurzbeschreibung

The objective of advanced driver assistance systems (ADAS) in automobiles is to support the driver in his driving tasks and increase safety for all traffic participants. In this context, motion planning is responsible for the generation of feasible driving maneuvers.

The primary purpose of the thesis is to conceptualize and imiplement a planning system for highway driving scenarios. Based on environment and traffic, feasible driving maneuvers are planned and executed by the system. First, the vehicle and the environment are transferred into a phase space (positions, velocity, acceleration, time) to get an abstract model of the problem. Continuous paths, defined by their curvature as polynomial over arc length, describe the spatial movement of the car. Various acceleration profiles define how the paths are  followed. Complex maneuvers are achieved by combining trajectories. The behavior  of the vehicle is defined by cost components that evaluated aspects like lane and distance keeping  fo the trajectories. The planning system was integrated into an existing development and simulation framework for driver assistance systems.  The simulation results show, that the proposed systems is able to drive in highway scenarios. Relatively slower moving vehicles are being followed. Lane changes are planned and executed, when obastacles appear on the road.

Betreuer
Raúl Rojas, Daniel Goehring, Steffen Heinrich
Abschluss
Master of Science (M.Sc.)
Abgabedatum
19.02.2015

Inhalt

Für Details bitte den Autor kontaktieren: andre.zoufahl@fu-berlin.de

be-digital Pressekonferenz am 07.12.15Mexico Oktober 2015MiG Mexico 2015Finalisten German Open 2014Simulator-Erfinder: Professor Raul Rojas (l.) und David Dormagen von der AG Intelligente Systeme und RobotikMadeInGermany in MexicoThe Tony Sale Award winners 2014: Robert B Garner (L) and  Raul Rojas (R), Nov. 2014Able und BakerCarolo-Cup-Team2014Formalisierung und Automatisierung von Gödels GottesbeweisAutoNOMOS-Team 2011Besuch Senatorin Yzer am 22.03.13Die autonomen Fahrzeuge der AG Intelligente Systeme und RobotikArchaeocopterMulticopterEntwicklung einer Roboterbiene

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