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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...
This paper describes the design of unified active safety framework that combines trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles into a single constrained-optimal-control-based system. This framework allows for multiple actuation modes, diverse trajectory-planning objectives, and varying levels of autonomy. The vehicle navigation problem is formulated as a...
We present a motion planning scheme for ground vehicles operating in a partially known environment. Kinematic constraints stemming from vehicle dynamics and from the requirement that the path must remain inside a free channel of a rectangular cell decomposition of the environment at all times, are dealt with by constructing a time-parameterized path using an appropriate combination of a finite number...
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