Multilayer Graph-Based Trajectory Planning for Race Vehicles in Dynamic Scenarios

Trajectory planning at high velocities and at the handling limits is a challenging task. In order to cope with the requirements of a race scenario, we propose a far-sighted two step, multi-layered graph-based trajectory planner, capable to run with speeds up to 212~km/h. The planner is designed to generate an action set of multiple drivable trajectories, allowing an adjacent behavior planner to pick the most appropriate action for the global state in the scene. This method serves objectives such as race line tracking, following, stopping, overtaking and a velocity profile which enables a handling of the vehicle at the limit of friction. Thereby, it provides a high update rate, a far planning horizon and solutions to non-convex scenarios. The capabilities of the proposed method are demonstrated in simulation and on a real race vehicle.Comment: Accepted at The 22nd IEEE International Conference on Intelligent Transportation Systems, October 27 - 30, 201

A Sensor for Urban Driving Assistance Systems Based on Dense Stereovision

Advanced driving assistance systems (ADAS) form a complex multidisciplinary research field, aimed at improving traffic efficiency and safety. A realistic analysis of the requirements and of the possibilities of the traffic environment leads to the establishment of several goals for traffic assistance, to be implemented in the near future (ADASE, INVENT

Trajectory planning for automated driving in dynamic environments

Considering the last decades, the trend in the automotive industry to continuously increase the level of automation of vehicles is evident. A lot of research and development effort has been invested to improve upon driving safety and comfort in traffic. Nowadays, advanced driver assistance systems, and the development of automated driving functions in particular, represent one of the main areas of innovation in automotive engineering. In order to cope with challenges arising from complex dynamic environments the automated vehicle needs to perform comprehensive cognitive tasks that come along with the presence of other traffic participants and the necessity to adhere to prevailing traffic regulations. As a consequence, the automated driving task is decomposed into several sub problems. In the functional architecture of automated vehicles, motion planning that addresses the generation of a comfortable and safe trajectory is a key component that directly affects the overall driving performance. This thesis is about the development of a trajectory planning approach suitable to deal with dynamic environments. A two level hierarchical trajectory planning framework is proposed that unites the capability of optimality and spline interpolation and explicitly considers the aspect of contradicting planning objectives. The framework is designed to work in receding horizon fashion by performing cyclic replanning and hence accounts for the dynamic character of the environment. The hierarchization into two separate levels of optimization leads to an approach that covers basic driving functionality on low level, while required high level behavior is still prioritized. The presented framework relies on a spline-based trajectory representation with an underlying optimal interpolation strategy. The optimal trajectory with respect to a certain situation is found by joint optimization on high and low level. A continuous and a discrete trajectory optimization variant to generate an optimal trajectory with respect to high level objectives are presented that basically differ in the definition of possible solutions in terms of the optimal decision variables. Constraints like drivability incorporated by exploiting the flatness property of the applied vehicle model and accurate collision avoidance checking are considered explicitly to comply to essential requirements for automated driving. To evaluate the quality of the trajectory in terms of the associated driving behavior, several objectives are defined. For dedicated objectives a curvilinear frame is used, which enables a precise formulation of the desired vehicle behavior with respect to driving applications in structured environments. Hence, this measure permits to formulate objectives independent of road curvature, extending the scope of the applied trajectory planning approach to a wide range of scenarios. Evaluation works out the distinct characteristic features of the two presented high level optimization approaches, showing the achieved performance at the example of typical (highway) traffic scenarios. It is shown that both, the continuous as well as the discrete approach, are suitable to solve the trajectory generation problem supporting the idea of creating a generic trajectory planning framework for automated driving

Adaptive tactical behaviour planner for autonomous ground vehicle

Success of autonomous vehicle to effectively replace a human driver depends on its ability to plan safe, efficient and usable paths in dynamically evolving traffic scenarios. This challenge gets more difficult when the autonomous vehicle has to drive through scenarios such as intersections that demand interactive behavior for successful navigation. The many autonomous vehicle demonstrations over the last few decades have highlighted the limitations in the current state of the art in path planning solutions. They have been found to result in inefficient and sometime unsafe behaviours when tackling interactively demanding scenarios. In this paper we review the current state of the art of path planning solutions, the individual planners and the associated methods for each planner. We then establish a gap in the path planning solutions by reviewing the methods against the objectives for successful path planning. A new adaptive tactical behaviour planner framework is then proposed to fill this gap. The behaviour planning framework is motivated by how expert human drivers plan their behaviours in interactive scenarios. Individual modules of the behaviour planner is then described with the description how it fits in the overall framework. Finally we discuss how this planner is expected to generate safe and efficient behaviors in complex dynamic traffic scenarios by considering a case of an un-signalised roundabout

Percepción basada en visión estereoscópica, planificación de trayectorias y estrategias de navegación para exploración robótica autónoma

Tesis inédita de la Universidad Complutense de Madrid, Facultad de Informática, Departamento de Ingeniería del Software e Inteligencia artificial, leída el 13-05-2015En esta tesis se trata el desarrollo de una estrategia de navegación autónoma basada en visión artificial para exploración robótica autónoma de superficies planetarias. Se han desarrollado una serie de subsistemas, módulos y software específicos para la investigación desarrollada en este trabajo, ya que la mayoría de las herramientas existentes para este dominio son propiedad de agencias espaciales nacionales, no accesibles a la comunidad científica. Se ha diseñado una arquitectura software modular multi-capa con varios niveles jerárquicos para albergar el conjunto de algoritmos que implementan la estrategia de navegación autónoma y garantizar la portabilidad del software, su reutilización e independencia del hardware. Se incluye también el diseño de un entorno de trabajo destinado a dar soporte al desarrollo de las estrategias de navegación. Éste se basa parcialmente en herramientas de código abierto al alcance de cualquier investigador o institución, con las necesarias adaptaciones y extensiones, e incluye capacidades de simulación 3D, modelos de vehículos robóticos, sensores, y entornos operacionales, emulando superficies planetarias como Marte, para el análisis y validación a nivel funcional de las estrategias de navegación desarrolladas. Este entorno también ofrece capacidades de depuración y monitorización.La presente tesis se compone de dos partes principales. En la primera se aborda el diseño y desarrollo de las capacidades de autonomía de alto nivel de un rover, centrándose en la navegación autónoma, con el soporte de las capacidades de simulación y monitorización del entorno de trabajo previo. Se han llevado a cabo un conjunto de experimentos de campo, con un robot y hardware real, detallándose resultados, tiempo de procesamiento de algoritmos, así como el comportamiento y rendimiento del sistema en general. Como resultado, se ha identificado al sistema de percepción como un componente crucial dentro de la estrategia de navegación y, por tanto, el foco principal de potenciales optimizaciones y mejoras del sistema. Como consecuencia, en la segunda parte de este trabajo, se afronta el problema de la correspondencia en imágenes estéreo y reconstrucción 3D de entornos naturales no estructurados. Se han analizado una serie de algoritmos de correspondencia, procesos de imagen y filtros. Generalmente se asume que las intensidades de puntos correspondientes en imágenes del mismo par estéreo es la misma. Sin embargo, se ha comprobado que esta suposición es a menudo falsa, a pesar de que ambas se adquieren con un sistema de visión compuesto de dos cámaras idénticas. En consecuencia, se propone un sistema experto para la corrección automática de intensidades en pares de imágenes estéreo y reconstrucción 3D del entorno basado en procesos de imagen no aplicados hasta ahora en el campo de la visión estéreo. Éstos son el filtrado homomórfico y la correspondencia de histogramas, que han sido diseñados para corregir intensidades coordinadamente, ajustando una imagen en función de la otra. Los resultados se han podido optimizar adicionalmente gracias al diseño de un proceso de agrupación basado en el principio de continuidad espacial para eliminar falsos positivos y correspondencias erróneas. Se han estudiado los efectos de la aplicación de dichos filtros, en etapas previas y posteriores al proceso de correspondencia, con eficiencia verificada favorablemente. Su aplicación ha permitido la obtención de un mayor número de correspondencias válidas en comparación con los resultados obtenidos sin la aplicación de los mismos, consiguiendo mejoras significativas en los mapas de disparidad y, por lo tanto, en los procesos globales de percepción y reconstrucción 3D.Depto. de Ingeniería de Software e Inteligencia Artificial (ISIA)Fac. de InformáticaTRUEunpu

Adaptive Big Data Pipeline

Over the past three decades, data has exponentially evolved from being a simple software by-product to one of the most important companies’ assets used to understand their customers and foresee trends. Deep learning has demonstrated that big volumes of clean data generally provide more flexibility and accuracy when modeling a phenomenon. However, handling ever-increasing data volumes entail new challenges: the lack of expertise to select the appropriate big data tools for the processing pipelines, as well as the speed at which engineers can take such pipelines into production reliably, leveraging the cloud. We introduce a system called Adaptive Big Data Pipelines: a platform to automate data pipelines creation. It provides an interface to capture the data sources, transformations, destinations and execution schedule. The system builds up the cloud infrastructure, schedules and fine-tunes the transformations, and creates the data lineage graph. This system has been tested on data sets of 50 gigabytes, processing them in just a few minutes without user intervention.ITESO, A. C