Comprehensive treated sections in a trajectory planner for realizing autonomous driving in Braunschweig's urban traffic

IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC

Volumn , Issue , 2010, Pages 647-652

  Wille, Jörn Marten ^a   Saust, Falko ^a   Maurer, Markus ^a  

^a TECHNICAL UNIVERSITY OF BRAUNSCHWEIG   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

AT-SPEED; AUTONOMOUS DRIVING; COMPLEX ENVIRONMENTS; DISTINCTIVE FEATURES; DRIVING BEHAVIOR; HIGH PRECISION; LANE CHANGE MANEUVERS; NEW APPROACHES; RESEARCH ACTIVITIES; RING ROADS; TRAJECTORY PLANNING; TURN RADIUS; TWO-LANE; URBAN ROAD; URBAN TRAFFIC;

CURVE FITTING; HIGHWAY TRAFFIC CONTROL; INTELLIGENT SYSTEMS; PLANNING; TRAJECTORIES; TRANSPORTATION;

ROADS AND STREETS;

EID: 78650475447     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ITSC.2010.5625155     Document Type: Conference Paper

References (18)

1. E. D. Dickmanns, R. Behringer, D. Dickmanns, T. Hildebrandt, M. Maurer, F. Thomanek, and J. Schielen "The seeing passenger car VaMoRs-P." IEEE Proceedings of the Intelligent Vehicle Symposium, Paris, France, pp. 68-73, 1994.
2. M. Maurer, R. Behringer, S. Fürst, F. Thomanek, and E. D. Dickmanns. "A Compact Vision System for Road Vehicle Guidance." IEEE Proceedings of the 13th International Conference on Pattern Recognition, Vienna, Austria, pp. 313-317, 1996.
3. N. Müller "Autonomes Manövrieren und Navigieren mit einem sehenden Straßenfahrzeug." VDI Fortschritt-Berichte, Vol. 281, 1996.
4. W. Enkelmann "Video-Based Driver Assistance - From Basic Functions to Applications." International Journal of Computer Vision, Vol. 45, pp. 201-221, 2001.
5. G. Struck, J. Geisler, F. Laubenstein, H.-H. Nagel, and G. Siegle "Multi-camera vision-based autonomous maneuvering at road intersections." IEEE Proceedings of the Intelligent Vehicle Symposium, Paris, France, pp. 189-194, 1994.
6. A. Simon and J. Becker "Vehicle guidance for an autonomous vehicle." IEEE Proceedings of the International Conference on Intelligent Transportation Systems, pp. 429-434, 1999.
7. S. Thrun et al. "Winning the DARPA Grand Challenge." International Journal of Field Robotics Research, Vol. 23, pp. 661-692, 2006.
8. U. Ozguner, C. Stiller, and K. Redmill. "Systems for Safety and Autonomous Behavior in Cars: The DARPA Grand Challenge Experience." Proceedings of the IEEE, Vol. 95, No. 2, pp. 397-412, 2007.
9. J. M. Wille and T. Form "Low Level Control in a Modular System Architecture for Realizing Precise Driving Maneuvers of the Autonomous Vehicle Caroline." IEEE Proceedings of the International Conference on Intelligent Transportation Systems, Beijing, China, pp. 705-710, 2008.
10. C. Basarke, C. Berger, K. Berger, K. Cornelsen, M. Doering, J. Effertz, T. Form, F. Graefe, T. Glke, P. Hecker, K. Homeier, F. Klose, C. Lipski, M. Magnor, J. Morgenroth, T. Nothdurft, S. Ohl, F. W. Rauskolb, B. Rumpe, W. Schumacher, J. M. Wille, L. Wolf "Caroline: An Autonomously Driving Vehicle for Urban Environments." International Journal of Field Robotics Research, Vol. 25, No. 9, pp. 674-724, 2008.
11. R. Solea and U. Nunes "Trajectory Planning with Velocity Planner for Fully-automated Passenger Vehicles." IEEE Proceedings of the International Conference on Intelligent Transportation Systems, Toronto, Canada, pp. 474-480, 2006.
12. T. Fraichard and A. Scheuer "From Reeds and Shepp's to Continuous- Curvature Paths" IEEE Transactions on Robotics, Vol. 20, No. 6, pp. 1025-1035, 2004.
13. W. Tölle "Ein Fahrmanöverkonzept für einen maschinellen Kopiloten" Fortschrittberichte VDI, Reihe 12, Düsseldorf, 1996.
14. A. Piazzi and C. Guarino Lo Bianco "Quintic G2-Splines for Trajectory Planning of Autonomous Vehicles" IEEE Proceedings of the Intelligent Vehicle Symposium, Dearborn, MI, pp. 198-203, 2000.
15. S. Quinlan. "Real-Time Modification of Collision-Free Paths." PhD Thesis, Stanford University, 1994.
16. C. de Boor "A Practical Guide to Spline" Springer-Verlag, 2001.
17. J.C. Lagarias, J. A. Reeds, M. H. Wright and P. E. Wright, "Convergence Properties of the Nelder-Mead Simplex Method in Low Dimensions" SIAM Journal of Optimization, Vol. 9, No. 1, pp. 112-147, 1998.
18. J. M. Wille, K. Homeier, R. Matthaei, T. Nothdurft, S. Ohl, A. Sasse, F. Saust, P. Hecker, M. Maurer, W. Schumacher and L. Wolf "Der Stadtpilot - Autonomes Fahren auf dem Braunschweiger Stadtring" 10. Braunschweiger Symposium AAET, Braunschweig, Germany, pp. 27-48, 2009.