Improved Trajectory Planning for On-Road Self-Driving Vehicles Vi.pdf (49.64 MB)
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Improved Trajectory Planning for On-Road Self-Driving Vehicles Via Combined Graph Search, Optimization & Topology Analysis

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thesis
posted on 01.02.2017, 00:00 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

01/02/2017

Degree Type

Dissertation

Department

Electrical and Computer Engineering

Degree Name

Doctor of Philosophy (PhD)

Advisor(s)

John Dolan