scholarly journals Real Time Vehicle Trajectory Estimation on Multiple Lanes

2014 ◽  
Author(s):  
Kristian Kovačić ◽  
Edouard Ivanjko ◽  
Hrvoje Gold
Keyword(s):  
Real Time ◽  
Trajectory Estimation ◽  
Vehicle Trajectory

Multi-Car Convex Feasible Set Algorithm in Trajectory Planning

2020 ◽  
Author(s):  
Jing Huang ◽  
Changliu Liu
Keyword(s):  
Convex Optimization ◽  
Quadratic Programming ◽  
Real Time ◽  
Trajectory Planning ◽  
Autonomous Driving ◽  
Curse Of Dimensionality ◽  
Planning Problem ◽  
Feasible Set ◽  
Planning Algorithm ◽  
Vehicle Trajectory

Abstract Trajectory planning is an essential module for autonomous driving. To deal with multi-vehicle interactions, existing methods follow the prediction-then-plan approaches which first predict the trajectories of others then plan the trajectory for the ego vehicle given the predictions. However, since the true trajectories of others may deviate from the predictions, frequent re-planning for the ego vehicle is needed, which may cause many issues such as instability or deadlock. These issues can be overcome if all vehicles can form a consensus by solving the same multi-vehicle trajectory planning problem. Then the major challenge is how to efficiently solve the multi-vehicle trajectory planning problem in real time under the curse of dimensionality. We introduce a novel planner for multi-vehicle trajectory planning based on the convex feasible set (CFS) algorithm. The planning problem is formulated as a non-convex optimization. A novel convexification method to obtain the maximal convex feasible set is proposed, which transforms the problem into a quadratic programming. Simulations in multiple typical on-road driving situations are conducted to demonstrate the effectiveness of the proposed planning algorithm in terms of completeness and optimality.

scholarly journals Variational Inference With Parameter Learning Applied to Vehicle Trajectory Estimation

2020 ◽  
Vol 5 (4) ◽  
pp. 5291-5298
Author(s):  
Jeremy Nathan Wong ◽  
David Juny Yoon ◽  
Angela P. Schoellig ◽  
Timothy D. Barfoot
Keyword(s):  
Variational Inference ◽  
Parameter Learning ◽  
Trajectory Estimation ◽  
Vehicle Trajectory

Input Estimation Algorithms for Reentry Vehicle Trajectory Estimation

2005 ◽  
Vol 55 (4) ◽  
pp. 361-375 ◽  
Author(s):  
Cheng-Yu Liu ◽  
Huai-Min Wang ◽  
Pan-Chio Tuan
Keyword(s):  
Trajectory Estimation ◽  
Input Estimation ◽  
Reentry Vehicle ◽  
Estimation Algorithms ◽  
Vehicle Trajectory
Sign in / Sign up

Export Citation Format

Share Document