Fail-safe motion planning of autonomous vehicles

Silvia Magdici, Matthias Althoff

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

57 Scopus citations

Abstract

Formally verified methods for motion planning are required in order to guarantee safety for autonomous vehicles. In particular, we consider trajectory generation by considering the most probable trajectory of other traffic participants. However, if the surrounding vehicles perform unexpected maneuvers, a collision might be inevitable. In this paper, a fail-safe motion planner is developed, which generates optimal trajectories, yet guarantees safety at all times. Safety is achieved by maintaining an emergency maneuver which can safely bring the host vehicle to a stop while avoiding any collision. The emergency maneuver is computed by considering for a given time horizon the occupancy prediction which encloses all possible trajectories of the other traffic participants. The performance of the approach is evaluated through simulation against real traffic data.

Original languageEnglish
Title of host publication2016 IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages452-458
Number of pages7
ISBN (Electronic)9781509018895
DOIs
StatePublished - 22 Dec 2016
Event19th IEEE International Conference on Intelligent Transportation Systems, ITSC 2016 - Rio de Janeiro, Brazil
Duration: 1 Nov 20164 Nov 2016

Publication series

NameIEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC

Conference

Conference19th IEEE International Conference on Intelligent Transportation Systems, ITSC 2016
Country/TerritoryBrazil
CityRio de Janeiro
Period1/11/164/11/16

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