figshare
Browse
Improved Trajectory Planning for On-Road Self-Driving Vehicles Vi.pdf (49.64 MB)

Improved Trajectory Planning for On-Road Self-Driving Vehicles Via Combined Graph Search, Optimization & Topology Analysis

Download (49.64 MB)
thesis
posted on 2017-02-01, 00:00 authored by Tianyu Gu

Trajectory planning is an important component of autonomous driving. It takes the result of route-level navigation plan and generates the motion-level commands that steer an autonomous passenger vehicle (APV). Prior work on solving this problem uses either a sampling-based or optimization-based trajectory planner, accompanied by some high-level rule generation components.

History

Date

2017-02-01

Degree Type

  • Dissertation

Department

  • Electrical and Computer Engineering

Degree Name

  • Doctor of Philosophy (PhD)

Advisor(s)

John Dolan