Pedestrians Walking on Reachable Sets and Manifolds

Publikation: Beitrag in Buch/Bericht/KonferenzbandBeitrag in einem Konferenzband

Abstract

It is a challenge to find safe trajectories for automated vehicles. Especially in urban environments with pedestrians there exist many different situations. The prediction of future movements with absolute certainty is impossible if the intention of the pedestrian is unknown. This paper is intended to offer a new concept of decision-making for motion planning with vulnerable road-users in urban environments. Reachability analysis is used to define spatial areas based on physical constraints, where the pedestrian might go. The approach is physically inspired and it can be proven for all kind of pedestrians. A new approach to cluster spatial areas is introduced to store specific environmental information about the pedestrian. The maximum values for jerk, acceleration and velocity of the pedestrian are necessary to find reachable areas.

Originalspracheenglisch
TitelProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
Herausgeber (Verlag)Institute of Electrical and Electronics Engineers
Seiten562-569
Seitenumfang8
ISBN (elektronisch)9781538669594
DOIs
PublikationsstatusVeröffentlicht - 24 Mai 2019
Veranstaltung2019 IEEE International Conference on Mechatronics, ICM 2019 - Ilmenau, Deutschland
Dauer: 18 Mär 201920 Mär 2019

Publikationsreihe

NameProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019

Konferenz

Konferenz2019 IEEE International Conference on Mechatronics, ICM 2019
LandDeutschland
OrtIlmenau
Zeitraum18/03/1920/03/19

ASJC Scopus subject areas

  • Artificial intelligence
  • Human-computer interaction
  • Fahrzeugbau
  • !!Mechanical Engineering
  • !!Control and Optimization
  • !!Industrial and Manufacturing Engineering

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