MAP-INDEPENDENT MOTION PLANNING FOR HIGHLY AUTOMATED VEHICLES IN URBAN SCENARIOS
- 提供方法
- 本サイト上にてダウンロード・閲覧可
- 形態
- 価格
- 一般価格(税込):¥1,100 会員価格(税込):¥880
- 文献番号
- 20219017
- 文献・情報種別
- その他の国際会議
- 掲載ページ
- 1-6(Total 6 p)
- 発行年月
- 2021年 9月
- 出版社
- (公社)自動車技術会
- 言語
- 英語
書誌事項
著者(英) | 1) Hegerhorst, T., 2) Kascha, M., 3) Sonka, A., 4) Henze, R. |
---|---|
勤務先(英) | 1) Technische Universität Braunschweig, 2) Technische Universität Braunschweig, 3) Technische Universität Braunschweig, 4) Technische Universität Braunschweig |
抄録(英) | 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. 翻訳 |