Visually-guided motion planning for autonomous driving from interactive demonstrations

The successful integration of autonomous robots in real-world environments strongly depends on their ability to reason from context and take socially acceptable actions. Current autonomous navigation systems mainly rely on geometric information and hard-coded rules to induce safe and socially compliant behaviors. Yet, in unstructured urban...

Longitudinal Behavior Planning with Maneuver Prediction for Urban Driving

One of the remaining challenges in the development of intelligent vehicles is the topic of behavior planning in urban scenarios. Based on perception of the environment around the intelligent vehicle, driving behavior has to be optimized to achieve a comfortable driving experience without sacrificing safety. This work covers the development of a...

Lane Change Path Planning: with State-Dependent Safety Constraints

In the past years a number of SAE level 2 driving automation systems have come available in commercial vehicles. An example is Volvo's Pilot Assist, which provides a more comfortable journey for the driver as certain parts of the dynamic driving task are taken away, but it still requires the driver to be attentive in order to supervise the...