Formally verified methods for motion planning are required in order to guarantee safety for autonomous vehicles. In particular, we consider trajectory generation by considering the most probable trajectory of other traffic participants. However, if the surrounding vehicles perform unexpected maneuvers, a collision might be inevitable. In this paper, a fail-safe motion planner is developed, which generates optimal trajectories, yet guarantees safety at all times. Safety is achieved by maintaining an emergency maneuver which can safely bring the host vehicle to a stop while avoiding any collision. The emergency maneuver is computed by considering for a given time horizon the occupancy prediction which encloses all possible trajectories of the other traffic participants. The performance of the approach is evaluated through simulation against real traffic data.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Fail-safe motion planning of autonomous vehicles


    Beteiligte:


    Erscheinungsdatum :

    01.11.2016


    Format / Umfang :

    294714 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    LiDAR-Based Fail-Safe Emergency Maneuver for Autonomous Vehicles

    Alzu'bi, Hamzeh / Varasquim, Juliano / Alrousan, Qusay et al. | SAE Technical Papers | 2023


    LiDAR-Based Fail-Safe Emergency Maneuver for Autonomous Vehicles

    Alrousan, Qusay / Alzu'bi, Hamzeh / Tasky, Tom et al. | British Library Conference Proceedings | 2023


    A cost-effective hardware architecture for fail-safe autonomous underwater vehicles

    Proenza, J. / Ortiz, A. / Bernat, G. et al. | Tema Archiv | 1999


    A cost-effective hardware architecture for fail-safe autonomous underwater vehicles

    Proenza, J. / Ortiz, A. / Bernat, G. et al. | IEEE | 1999


    FAIL-SAFE CORRECTIVE ACTIONS BASED ON VISION INFORMATION FOR AUTONOMOUS VEHICLES

    BALAKRISHNAN UMA / HUNTER DANIEL / CHAURASIA AKASH et al. | Europäisches Patentamt | 2023

    Freier Zugriff