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Summary & Details

MAP-INDEPENDENT MOTION PLANNING FOR HIGHLY AUTOMATED VEHICLES IN URBAN SCENARIOS

Delivery: Available on this site

Format: PDF

Price: Non-members (tax incl.)：￥1,100 Members (tax incl.)：￥880

Publication code: 20219017

Paper/Info type: Other International Conferences

Pages: 1-6(Total 6 p)

Date of publication: Sep 2021

Publisher: JSAE

Language: English

Detailed Information

Author(E)	1) Hegerhorst, T., 2) Kascha, M., 3) Sonka, A., 4) Henze, R.
Affiliation(E)	1) Technische Universität Braunschweig, 2) Technische Universität Braunschweig, 3) Technische Universität Braunschweig, 4) Technische Universität Braunschweig
Abstract(E)	In the recent past, digital maps have enabled great progress in automated driving. In this paper, a mapindependent motion planner is presented, which is intended for the execution of turning and maneuvering, thus increasing the effective radius of HAD systems. After a review of existing approaches, the concept of the Hybrid-A*-inspired algorithm and the development environment are presented. This also includes the test vehicle PLUTO which is an automated rolling chassis. Finally, the implementation & test phase in simulation and real driving is carried out, whereby the successful accomplishment of the driving task by the algorithm is demonstrated.

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