Springer Theses

Artuñedo, Antonio

This book describes an effective decision-making and planning architecture for enhancing the navigation capabilities of automated vehicles in the presence of non-detailed, open-source maps. The system involves dynamically obtaining road corridors from map information and utilizing a camera-based lane detection system to update and enhance the navigable space in order to address the issues of intrinsic uncertainty and low-fidelity. An efficient and human-like local planner then determines, within a probabilistic framework, a safe motion trajectory, ensuring the continuity of the path curvature and limiting longitudinal and lateral accelerations. LiDAR-based perception is then used to identify the driving scenario, and subsequently re-plan the trajectory, leading in some cases to adjustment of the high-level route to reach the given destination. The method has been validated through extensive theoretical and experimental analyses, which are reported here in detail.

Details

Published by: Springer

Publication Date: 2021-04-26

Format: Paperback

ISBN-13: 9783030459079

DOI: 10.1007/978-3-030-45905-5

Dimensions: 235cm x155cm

Pages: 195