On-Road Motion Planning for Automated Vehicles at Ulm University

On-Road Motion Planning for Automated Vehicles at Ulm University

The Institute of Measurement, Control, and Microtechnology at Ulm University has investigated advanced driver assistance systems for decades and concentrated, in large part, on autonomous driving. It is well known that motion planning is a key technology for autonomous driving. It is, first and fore...

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Bibliographic Details
Published in:IEEE intelligent transportation systems magazine Vol. 14; no. 3; pp. 121 - 131
Main Authors: Graf, Maximilian J., Speidel, Oliver M., Ruof, Jona O., Dietmayer, Klaus
Format: Journal Article
Language:English
Published: Piscataway IEEE 01-05-2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Advanced driver assistance systems
Algorithms
Autonomous vehicles
Behavioral sciences
Driving
Motion control
Motion planning
Optimization
Passenger safety
Roundabouts
Traffic
Trajectory
Trajectory planning
Vehicle dynamics
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Summary:The Institute of Measurement, Control, and Microtechnology at Ulm University has investigated advanced driver assistance systems for decades and concentrated, in large part, on autonomous driving. It is well known that motion planning is a key technology for autonomous driving. It is, first and foremost, responsible for the safety of vehicle passengers as well as all surrounding traffic participants. However, a further task consists of providing smooth and comfortable driving behavior. In Ulm, we are grateful to have the opportunity to test our algorithms under real conditions in public traffic and diversified scenarios. In this article, we give readers an insight into our work, including the vehicle and test track, as well as related problems, challenges, and solutions. We describe the motion planning system and explain the implemented functionalities. Furthermore, we show how our vehicle moves through public road traffic and deals with challenging scenarios, e.g., driving through roundabouts and intersections.
ISSN:1939-1390
1941-1197
DOI:10.1109/MITS.2021.3084534