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
thesis
posted on 2017-02-01, 00:00 authored by Tianyu GuTrajectory 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
2017-02-01Degree Type
- Dissertation
Department
- Electrical and Computer Engineering
Degree Name
- Doctor of Philosophy (PhD)