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Erschienen in:
2018 | OriginalPaper | Buchkapitel
Modeling ego motion uncertainty
verfasst von : Steffen Heinrich
Erschienen in: Planning Universal On-Road Driving Strategies for Automated Vehicles
Verlag: Springer Fachmedien Wiesbaden
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In Chapters 4 to 6, the full planning stack was introduced and evaluated. In this chapter, a post-processing method is presented which compensates for ego motion uncertainty. So far, it has been assumed that the optimized trajectory would be executed by the vehicle’s control and actuator systems with no or only minor deviations. The trajectory actually driven can differ far more than that, however. Even though the planning results are still completely safe, these circumstances would cause frequent re-initializations.