S.41-60

    The SPARC concept for fully-automated driving was introduced in 2012 as a way to overcome the highly discretized maneuver planning approaches that had previously dominated the DARPA Grand and Urban Challenges. The aim was to define a single planner that is responsible for all forward driving tasks, including intersections, highways and pre-crash situations; that is based on a sound statistical framework including prediction and sensing uncertainties; and that can trade off between goals like safety, comfort and efficiency in a unified and transparent way. Since then, several similar approaches have been presented, most notably the Bertha Benz drive of 2013, in which the 100 km distance between Mannheim and Pforzheim was covered autonomously in a Mercedes-Benz S-500 Intelligent Drive. During the same time, the SPARC approach has been refined in several respects, including its vehicle models and optimization techniques. This technical report provides an overview of the avenues explored to motivate the current form of the SPARC concept, based on frequently-asked questions that arose during the various technical presentations of the concept.


    Access

    Download


    Export, share and cite



    Title :

    Considerations on trajectory planning models in automated driving


    Contributors:
    Ruf, Miriam (author)

    Conference:

    2016 Fraunhofer Institute of Optronics, System Technologies and Image Exploitation and Institute for Anthropomatics, Vision and Fusion Laboratory (Joint Workshop) 2015; Joint Workshop of Fraunhofer IOSB and Institute for Anthropomatics, Vision and Fusion Laboratory 2015. Proceedings


    Publication date :

    2016



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    Unknown



    Trajectory planning for high dynamic automated driving

    Keller,T. / Wimmershoff,M. / Hardy,J. et al. | Automotive engineering | 2014


    Trajectory planning for high dynamic automated driving

    Keller, Thomas / Wimmershoff, Marc / Hardy, D. Jason et al. | Tema Archive | 2014


    Trajectory Planning for Automated Driving in Intersection Scenarios using Driver Models

    Speidel, Oliver / Graf, Maximilian / Kaushik, Ankit et al. | ArXiv | 2020

    Free access

    Model Predictive Trajectory Planning for Automated Driving

    Yi, Boliang / Bender, Philipp / Bonarens, Frank et al. | IEEE | 2019


    Trajectory Planning for Automated Driving in Intersection Scenarios Using Driver Models

    Speidel, Oliver / Graf, Maximilian / Kaushik, Ankit et al. | IEEE | 2020