Behavior planning for automated highway driving

dc.contributor.advisorBertram, Torsten
dc.contributor.authorSchmidt, Manuel
dc.contributor.refereeSvaricek, Ferdinand
dc.date.accepted2022-11-09
dc.date.accessioned2023-01-13T14:38:11Z
dc.date.available2023-01-13T14:38:11Z
dc.date.issued2022
dc.description.abstractThis work deals with certain components of an automated driving system for highways, focusing on lane change behavior planning. It presents a variety of algorithms of a modular system aiming at safe and comfortable driving. A major contribution of this work is a method for analyzing traffic scenes in a spatio-temporal, curvilinear coordinate system. The results of this analysis are used in a further step to generate lane change trajectories. A total of three approaches with increasing levels of complexity and capabilities are compared. The most advanced approach formulates the problem as a linear-quadratic cooperative game and accounts for the inherently uncertain and multimodal nature of trajectory predictions for surrounding road users. Evaluations on real data show that the developed algorithms can be integrated into current generation automated driving software systems fulfilling runtime constraints.en
dc.identifier.urihttp://hdl.handle.net/2003/41195
dc.identifier.urihttp://dx.doi.org/10.17877/DE290R-23040
dc.language.isoende
dc.subjectAutomated drivingen
dc.subjectSituation predictionen
dc.subjectLane change trajectory planningen
dc.subject.ddc620
dc.subject.rswkAutomatisiertes Fahrende
dc.titleBehavior planning for automated highway drivingen
dc.title.alternativeFrom situation analysis and prediction towards resource-constrained interaction-aware lane change planningen
dc.typeTextde
dc.type.publicationtypedoctoralThesisde
dcterms.accessRightsopen access
eldorado.secondarypublicationfalsede

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