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A tractable interaction model for trajectory planning in automated driving

: Ziehn, J.R.; Ruf, Miriam; Willersinn, Dieter; Rosenhahn, B.; Beyerer, Jürgen; Gotzig, H.

Volltext urn:nbn:de:0011-n-4260705 (1.0 MByte PDF)
MD5 Fingerprint: e0ac8341df6e924902548800e23d75fa
Erstellt am: 16.12.2016

Institute of Electrical and Electronics Engineers -IEEE-; IEEE Computer Society:
IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016 : November 1-4, 2016, Rio de Janeiro, Brazil; Proceedings
Los Alamitos, Calif.: IEEE Computer Society Conference Publishing Services (CPS), 2016
ISBN: 978-1-5090-1889-5
ISBN: 978-1-5090-1888-8
ISBN: 978-1-5090-1890-1 (Print)
International Conference on Intelligent Transportation Systems (ITSC) <19, 2016, Rio de Janeiro>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IOSB ()

This paper presents an efficient model for combining automotive trajectory planning with predicted environment interactions, named progressively interacting trajectories (PITRA). The model allows to plan trajectories for fullyautomated vehicles by actively considering how other traffic participants will react to the trajectory, while retaining many of the advantages of variational trajectory optimization methods, in particular expressiveness and ease of computation. This enables maneuvers such as proactively claiming a gap during a lane change in dense traffic, which are impossible to model in classical variational models. The PITRA approach does not rely on a specific prediction model, but can be used in combination with a wide range of existing models. Its model assumptions and limitations are derived theoretically and demonstrated in several realistic scenarios.