Ensuring safe behavior for automated vehicles in unregulated traffic areas poses a complex challenge for the industry. It is an open problem to provide scalable and certifiable solutions to this challenge. We derive a trajectory planner based on model predictive control which interoperates with a monitoring system for pedestrian safety based on cellular automata. The combined planner-monitor system is demonstrated on the example of a narrow indoor parking environment. The system features deterministic behavior, mitigating the immanent risk of black boxes and offering full certifiability. By using fundamental and conservative prediction models of pedestrians the monitor is able to determine a safe drivable area in the partially occluded and unstructured parking environment. The information is fed to the trajectory planner which ensures the vehicle remains in the safe drivable area at any time through constrained optimization. We show how the approach enables solving plenty of situations in tight parking garage scenarios. Even though conservative prediction models are applied, evaluations indicate a performant system for the tested low-speed navigation.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Safe, Deterministic Trajectory Planning for Unstructured and Partially Occluded Environments


    Beteiligte:


    Erscheinungsdatum :

    19.09.2021


    Format / Umfang :

    562202 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Vehicle Planning in Unstructured Environments

    Green, Alexander / Rye, David / Durrant-Whyte, Hugh | AIAA | 2005


    Navigation based on partially occluded pedestrians

    BENOU ARIEL / ALONI DAVID / KIRZHNER DMITRY et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    NAVIGATION BASED ON PARTIALLY OCCLUDED PEDESTRIANS

    BENOU ARIEL / ALONI DAVID / KIRZHNER DMITRY et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Safe and Sustainable Unmanned Aircraft Trajectory Planning in Dense Urban Environments

    Uijt De Haag, Maarten / Berth, Christian / Ebert, Carola et al. | AIAA | 2023