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3D perception and planning for self-driving and cooperative automobiles

Christoph Stiller, Julius Ziegler
2012 International Multi-Conference on Systems, Sygnals & Devices  
Methods for 3D Machine perception based on lidar and video sensors are outlined.  ...  Results from the autonomous vehicle AnnieWAY that recently won the Grand Cooperative Driving Challenge are shown in real world urban and platooning scenarios.  ...  Motion planning using spatiotemporal state lattices In order to account for moving obstacles their future positions are predicted.  ... 
doi:10.1109/ssd.2012.6198130 dblp:conf/IEEEssd/StillerZ12 fatcat:nvuczb2r6fh77la4ny4uloggm4

Detecting Intentions of Vulnerable Road Users Based on Collective Intelligence [article]

Maarten Bieshaar, Günther Reitberger, Stefan Zernetsch, Bernhard Sick, Erich Fuchs, Konrad Doll
2018 arXiv   pre-print
Cooperation, by means of probabilistic sensor and knowledge fusion, takes place on the level of perception and intention recognition.  ...  Based on the requirements of the cooperative approach for the communication a new strategy for an ad hoc network is proposed.  ...  Acknowledgement This work was funded within the priority program "Cooperatively Interacting Automobiles" of the German Science Foundation DFG.  ... 
arXiv:1809.03916v1 fatcat:gtc4v42cdbgyfjc4ddwgqriiie

SUMMIT: A Simulator for Urban Driving in Massive Mixed Traffic [article]

Panpan Cai, Yiyuan Lee, Yuanfu Luo, David Hsu
2020 arXiv   pre-print
SUMMIT supports a wide range of applications, including perception, vehicle control and planning, and end-to-end learning.  ...  By leveraging the open-source OpenStreetMap map database and a heterogeneous multi-agent motion prediction model developed in our earlier work, SUMMIT simulates dense, unregulated urban traffic for heterogeneous  ...  This is because Context-GAMMA explicitly models cooperation between agents and provides an optimal collision avoidance motion using both steering and acceleration. D.  ... 
arXiv:1911.04074v2 fatcat:jqrt4jcapvchrbw4pv6ygz5yxu

A Study on Visibility Analysis of Urban Landmarks: The Case of Hagia Sophia (Ayasofya) In Trabzon

2012 Middle East Technical University Journal of the Faculty of Architecture  
were shown on the site plan (Figure 6 ).  ...  Therefore, the analysis of a landmark in urban view in regards to perception in motion should be approached as an important field of study.  ... 
doi:10.4305/metu.jfa.2012.1.14 fatcat:6xjruq7otzhg7ilp3gqxko5coq

The Safe Navigation of Partial Motion Planning Based on "Cooperation" with Roadside Fixed Sensors in VANET

Rong Ding, Xiaoguang Li
2010 Wireless Sensor Network  
In order to improve the limitation of traditional PMP, this paper presents a novel effective way to plan motion with cooperation of roadside fixed sensors (RFSs).  ...  With their cooperation, the vehicles can get the surrounding information quickly and effectively, and give highly accurate projections about the near future conditions on road.  ...  One successful navigation even one successful partial motion planning depends on the accuracy grade of real-time information and front-road condition.  ... 
doi:10.4236/wsn.2010.29079 fatcat:a3jeh6q6gbg3xgxi7dzzws4ue4

A Review of Research on Traffic Conflicts Based on Intelligent Vehicles

Lin Hu, Jian Ou, Jing Huang, Yimin Chen, Dongpu Cao
2020 IEEE Access  
This paper summarizes the existing researches on traffic conflicts from the perspective of intelligent vehicles.  ...  The traffic situation at an urban intersection is complicated, due to the numerous internal conflicts and all kinds of traffic accidents.  ...  On this basis, intelligent vehicle can achieve optimal trajectory planning and motion control to reduce conflicts with other road users.  ... 
doi:10.1109/access.2020.2970164 fatcat:rd44et55sfgffb2dakzcat6wmq

Control of Connected and Automated Vehicles: State of the Art and Future Challenges [article]

Jacopo Guanetti, Yeojun Kim, Francesco Borrelli
2018 arXiv   pre-print
Applications include real-time control and planning with increased awareness, routing with micro-scale traffic information, coordinated platooning using traffic signals information, eco-mobility on demand  ...  Challenges include the unknown intentions of other road users: communication between vehicles and with the road infrastructure is a possible approach to enhance awareness and enable cooperation.  ...  cruise control (adjusting the reference velocity based on the perception data), urban cruise control (using communication with the infrastructure), cooperative adaptive cruise control (using communication  ... 
arXiv:1804.03757v1 fatcat:j5gcbko2jjfozozzgrb2n5bplm

Odin: Team VictorTango's Entry in the DARPA Urban Challenge [chapter]

Charles Reinholtz, Dennis Hong, Al Wicks, Andrew Bacha, Cheryl Bauman, Ruel Faruque, Michael Fleming, Chris Terwelp, Thomas Alberi, David Anderson, Stephen Cacciola, Patrick Currier (+8 others)
2009 Springer Tracts in Advanced Robotics  
Perception used laser scanners, GPS, and a priori knowledge to identify obstacles, cars, and roads.  ...  Planning relied on a hybrid deliberative/reactive architecture to analyze the situation, select the appropriate behavior, and plan a safe path.  ...  The motion planning used on Odin was flexible enough to be used for all situations of the challenge such as road driving, parking and obstacle avoidance.  ... 
doi:10.1007/978-3-642-03991-1_4 fatcat:onvesps7grcnppncm2tp24wplu

Special Issue on Perception and Navigation for Autonomous Vehicles [From the Guest Editors]

P. Martinet, C. Laugier, U. Nunes
2014 IEEE robotics & automation magazine  
The final article, "Model-Predictive Motion Planning," proposes recent advances in motion planning using model-predictive motion planning techniques.  ...  satellite systems (GNSS)-based localization, and motion planning, respectively.  ... 
doi:10.1109/mra.2014.2301112 fatcat:mpyhbrgurbcetiweggy4qepyj4

Intelligent Vehicles at the Mobile Robotics Laboratory, University of Sao Paolo, Brazil [ITS Research Lab]

Cristina Olaverri
2017 IEEE Intelligent Transportation Systems Magazine  
Mapping In urban environments, most of the vehicles motion is based on traffic lanes. This is fundamental information for intelligent vehicles to do path plan ning and control.  ...  Since 2011 we have been working on perception (obstacle and road detection) techniques that do not rely on previous information about the environments.  ... 
doi:10.1109/mits.2016.2632659 fatcat:g7mfgs63sje3vcrn6q27tkcul4

A multi-level collaborative driving framework for autonomous vehicles

Junqing Wei, John M. Dolan
2009 RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication  
There are three components in MCDF; the missionbehavior-motion block diagram, the functionality-module relationship and the human participation level table.  ...  The MCDF is successfully implemented in TROCS, a real-time autonomous vehicle control system developed by the Tartan Racing Team for the 2007 DARPA Urban Challenge.  ...  The abilities of autonomous vehicles have been extended from lane-centering to intelligent route planning, off-road navigation and interaction with human urban traffic.  ... 
doi:10.1109/roman.2009.5326205 dblp:conf/ro-man/WeiD09 fatcat:w44hf6ch4zdijij6y3ooq23wh4

Autonomous driving – a top-down-approach

Richard Matthaei, Markus Maurer
2015 at - Automatisierungstechnik  
cooperation.  ...  It is developed in a top-down approach based on the definition of the functional requirements for an autonomous vehicle and explicitly combines perception-based and localization-based approaches.  ...  The urban environment in particular puts high demands on the environmental perception.  ... 
doi:10.1515/auto-2014-1136 fatcat:qapr2cbf3ffbld5xnkleh5jziy

Cooperative perception for autonomous vehicle control on the road: Motivation and experimental results

Seong-Woo Kim, Zhuang Jie Chong, Baoxing Qin, Xiaotong Shen, Zhuoqi Cheng, Wei Liu, Marcelo H. Ang
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper, we attempt to develop a reusable framework of cooperative perception for vehicle control on the road that can extend perception range beyond line-ofsight and beyond field-of-view.  ...  We provide experimental results using a self-driving vehicle and manned vehicles equipped with the cooperative perception systems that we propose and implement.  ...  This paper provides our answers to overcome these problems through implementation and experiments on urban road using a self-driving vehicle and manned vehicles equipped with the cooperative perception  ... 
doi:10.1109/iros.2013.6697088 dblp:conf/iros/KimCQSCLA13 fatcat:zdhl6f64srf4hnxy7mfol4vzy4

Opportunities and Challenges in Cooperative Road Vehicle Automation

Steven E. Shladover
2021 IEEE Open Journal of Intelligent Transportation Systems  
This paper provides an introduction to the opportunities for improving the performance of road transportation automation systems by use of vehicle-vehicle and vehicle-infrastructure communication and cooperation  ...  The risks of over-reliance on communication for cooperative automation implementations are also discussed to provide a balanced view of appropriate levels of cooperation.  ...  infrastructure (buildings close to the corners in urban settings, horizontal or vertical curvatures on roads in hilly areas).  ... 
doi:10.1109/ojits.2021.3099976 fatcat:a32zsik3yngobc2pprnk3d3dde

Motion planning for urban autonomous driving using Bézier curves and MPC

Xiangjun Qian, Inaki Navarro, Arnaud de La Fortelle, Fabien Moutarde
2016 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)  
This paper presents a real-time motion planning scheme for urban autonomous driving that will be deployed as a basis for cooperative maneuvers defined in the European project AutoNet2030.  ...  We use a path-velocity decomposition approach to separate the motion planning problem into a path planning problem and a velocity planning problem.  ...  CONCLUSIONS In this paper, we presented a novel motion planning framework for on-road autonomous driving in response to the requirements of flexibility, cooperative-awareness and efficiency.  ... 
doi:10.1109/itsc.2016.7795651 dblp:conf/itsc/QianNFM16 fatcat:ahb4qf7fnbaczhgt46alalad6q
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