A Review of Motion Planning for Highway Autonomous Driving

Safe Motion Planning for Autonomous Driving

Self-driving cars have the potential to revolutionize transportation by making it cheaper, safer, and more efficient. In this thesis we describe a novel motion planning system, which translates high-level navigation goals into low-level actions for controlling a vehicle. Specifically, the motion planning system is responsible for choosing at each time step an appropriate velocity and steering a...

Real-Time Motion Planning 
 and
 Autonomous Driving

Guidance-based On-line Motion Planning for Autonomous Highway Overtaking

In the context of intelligent transportation, this paper presents a novel on-line trajectorygeneration method for autonomous lane changing. The proposed scheme is guidance based, realtime applicable, and ensures safety and passenger ride comfort. Based on the principles of Rendezvous Guidance, the passing vehicle is guided in real-time to match the position and velocity of a shadow target (i.e....

A Lightweight Simulator for Autonomous Driving Motion Planning Development

A good simulation environment will facilitate motion planning algorithm development for urban autonomous driving. The first requirement of such a simulator is to be able to replicate a complex urban environment, including road network, curb, general objects, etc. The second requirement is to simulate a realistic host vehicle, which includes perception, control and vehicle dynamics, to recreate ...

A Robust Motion Planning Approach for Autonomous Driving in Urban Areas

This thesis presents an improved sampling-based motion planning algorithm, Robust RRT, that is designed specifically for large robotic vehicles and uncertain, dynamic environments. Five main extensions have been made to the original RRT algorithm to improve performance in this type of applications. The closed-loop system is used for state propagation, enabling easy handling of complex, nonlinea...