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Optimal trajectory generation for dynamic street scenarios in a Frenét Frame

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4 Author(s)
Werling, M. ; Dept. of Appl. Comput. Sci. & Autom., Univ. of Karlsruhe, Karlsruhe, Germany ; Ziegler, J. ; Kammel, S. ; Thrun, S.

Safe handling of dynamic highway and inner city scenarios with autonomous vehicles involves the problem of generating traffic-adapted trajectories. In order to account for the practical requirements of the holistic autonomous system, we propose a semi-reactive trajectory generation method, which can be tightly integrated into the behavioral layer. The method realizes long-term objectives such as velocity keeping, merging, following, stopping, in combination with a reactive collision avoidance by means of optimal-control strategies within the Frenét-Frame of the street. The capabilities of this approach are demonstrated in the simulation of a typical high-speed highway scenario.

Published in:

Robotics and Automation (ICRA), 2010 IEEE International Conference on

Date of Conference:

3-7 May 2010