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Situation prediction and reaction control (SPARC): Patent pending

: Ruf, M.

Volltext urn:nbn:de:0011-n-2986151 (1.4 MByte PDF)
MD5 Fingerprint: 70ade0099386cd1e50d62d590b933f9a
Erstellt am: 7.8.2014

Färber, B.:
9. Workshop Fahrerassistenzsysteme, FAS 2014 : Walting im Altmühltal, 26. - 28. März 2014
Darmstadt: Uni-DAS, 2014
ISBN: 978-3-00-044955-0
Workshop Fahrerassistenzsysteme (FAS) <9, 2014, Walting im Altmühltal>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IOSB ()
fully automated driving; prediction; situation analysis; trajectory planning

Approaches to automated driving typically hand over vehicle control to specialized modules for intersection handling, parking, obstacle avoidance etc., depending on the perceived traffic situation. This paper proposes a continuous-state alternative that allows to take all modeled goals and influences into account simultaneously, similarly to how a human driver would behave. A dynamic map of the environment is analyzed in real time for traffic rules and obstacles. The behavior of dynamic objects is predicted into the near future. This information is used to generate a 3d penalty map over space and time. An optimal trajectory is found based on these penalties as well as on penalties for internal control parameters. This holistic approach considers all relevant goals as well as the dynamic limits of the ego vehicle simultaneously when planning the trajectory, and requires no sharp state transitions during operation.