Contingency planning for automated vehicles

Automated driving is a safety critical process, which requires complex decision making. In order to validate driving decisions, it is possible to maintain at all times a contingency maneuver, which transfers the vehicle to a safe standstill, if other decision making processes fail. In this paper we...

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Bibliographic Details
Main Authors: Salvado, Joao, Custodio, Luis M. M., Hess, Daniel
Format: Conference Proceeding
Language:English
Subjects:
Acceleration
Aerospace electronics
Autonomous Agents
Collision avoidance
Mathematical model
Motion and Path Planning
Motion and Trajectory Generation
Planning
Trajectory
Vehicles
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Summary:Automated driving is a safety critical process, which requires complex decision making. In order to validate driving decisions, it is possible to maintain at all times a contingency maneuver, which transfers the vehicle to a safe standstill, if other decision making processes fail. In this paper we present a motion planner, which computes contingency maneuvers for an automated vehicle in a 0.1[s] time frame. A discrete set of motion primitives is assembled in a heuristic best-first search. In order to speed up the search, an obstacle sensitive heuristic is applied, which maintains properties of bounded sub-optimality and completeness. A run-time comparison with and without the obstacle sensitive heuristic is presented on two exemplary collision avoidance scenarios.
ISSN:2153-0866
DOI:10.1109/IROS.2016.7759442