English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

The development of driving functions for autonomous vehicles in urbanenvironments is still a challenging task. In comparison with driving onmotorways, a wide variety of moving road users, such as pedestrians orcyclists, but also the strongly varying and sometimes very narrow road layoutpose special challenges. The ability to make fast decisions about exactmaneuvers and to execute them by applying sophisticated control commands is oneof the key requirements for autonomous vehicles in such situations. In thiscontext we present an algorithmic concept of three correlated methods. Itsbasis is a novel technique for the automated generation of a free-spacepolygon, providing a generic representation of the currently drivable area. Wethen develop a time-dependent hybrid-state A* algorithm as a model-basedplanner for the efficient and precise computation of possible driving maneuversin arbitrary dynamic environments. While on the one hand its results can beused as a basis for making short-term decisions, we also show theirapplicability as an initial guess for a subsequent trajectory optimization inorder to compute applicable control signals. Finally, we provide numericalresults for a variety of simulated situations demonstrating the efficiency androbustness of the proposed methods.

Time-Dependent Hybrid-State A* and Optimal Control for Autonomous Vehicles in Arbitrary and Dynamic Environment