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Modelbased probabilistic collision detection in autonomous driving”.
- IEEE Transactions on Intelligent Transportation Systems,
, 2009
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Probabilistic mapping of dynamic obstacles using markov chains for replanning in dynamic environments
- In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems
, 2008
"... Abstract — Robots acting in populated environments must be capable of safe but also time efficient navigation. Trying to completely avoid regions resulting from worst case predictions of the obstacle dynamics may leave no free space for a robot to move, especially in environments with high dynamic. ..."
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Cited by 13 (11 self)
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Abstract — Robots acting in populated environments must be capable of safe but also time efficient navigation. Trying to completely avoid regions resulting from worst case predictions of the obstacle dynamics may leave no free space for a robot to move, especially in environments with high dynamic. This work presents an algorithm for a ”soft ” risk mapping of dynamic objects leaving the complete space free of static objects for path planning. Markov Chains are used to model the dynamics of moving persons and predict their potential future locations. These occlusion estimations are mapped into risk regions which serve to plan a path through potentially obstructed space searching for the trade-off between detour and time delay. The offline computation of the Markov Chain model keeps the computational effort low, making the approach suitable for online applications. I.
Design and Capabilities of the Munich Cognitive Automobile
"... Abstract — This paper presents the design of the Cognitive Automobile in Munich. The focus of the capabilities shown here is the navigation on highways and rural roads. The emphasis on higher speed requires early detection of far field objects, so a multi focal active vision with gaze control is ess ..."
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Cited by 3 (2 self)
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Abstract — This paper presents the design of the Cognitive Automobile in Munich. The focus of the capabilities shown here is the navigation on highways and rural roads. The emphasis on higher speed requires early detection of far field objects, so a multi focal active vision with gaze control is essential. For increased robustness lidar range sensors are combined with vision using an object fusion approach. An elaborate safety concept and a verification stage ensure a safe behavior of the vehicle in all situations. A communication system enables the vehicle to perform cooperative perception and action together with similar intelligent vehicles. I.
Safety Assessment of Driving Behavior in Multi-Lane Traffic for Autonomous Vehicles
, 2009
"... An approach for the safety assessment of planned trajectories of autonomous vehicles is presented. Due to the unsafe nature of road traffic, the proposed safety assessment is performed in a probabilistic setting, where the probability distributions of possible future positions of traffic participan ..."
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Cited by 2 (2 self)
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An approach for the safety assessment of planned trajectories of autonomous vehicles is presented. Due to the unsafe nature of road traffic, the proposed safety assessment is performed in a probabilistic setting, where the probability distributions of possible future positions of traffic participants are computed based on dynamic models. The underlying algorithms have to be efficient as they need to provide a safety level of the currently planned path while the vehicle is in operation. In order to achieve the necessary efficiency of computation, the dynamics of traffic participants is abstracted into Markov-chains. The approach considers vehicle dynamics, interaction between traffic participants, and lane changes in multi-lane traffic.
Cognition and Emotion in Autonomous Cars
- Intelligent Vehicles Symposium, IEEE, Vol., No
, 2009
"... Abstract — In order to increase the acceptance of vehicles that drive (partly) autonomously, it seems advantageous that the driving style of autonomous cars is human-like. Furthermore, the acceptance of autonomous cars is believed to be increased when their actions and current state becomes more tra ..."
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Cited by 2 (1 self)
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Abstract — In order to increase the acceptance of vehicles that drive (partly) autonomously, it seems advantageous that the driving style of autonomous cars is human-like. Furthermore, the acceptance of autonomous cars is believed to be increased when their actions and current state becomes more transparent to the passengers. These aspects can be tackled by implementing emotions to an autonomous car which allows a situation specific adaption of driving functions and vehicle dynamics. In this work, the emotions are modeled by the cognitive appraisal model as described by Ortony, Clore and Collins. The approach is presented for a traffic scene where two lanes are merged into one. I.
Factory Monitoring and Control with Mixed Hardware/Software, Discrete/Continuous Models
"... Many complex systems today, such as robotic networks, automobiles and automated factories, consist of hard-ware components whose functionality is extended or con-trolled by embedded software and which exhibit contin-uous dynamics. We address the problem of monitoring and control in such systems with ..."
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Many complex systems today, such as robotic networks, automobiles and automated factories, consist of hard-ware components whose functionality is extended or con-trolled by embedded software and which exhibit contin-uous dynamics. We address the problem of monitoring and control in such systems with a twofold contribution. First, we extend Probabilistic Hierarchical Constraint Au-tomata (PHCA), introduced in previous work as a means to compactly describe uncertain hardware and complex software behavior, to hybrid PHCA (HyPHCA). These al-low to model continuous behavior in the form of differ-ential equations. Continuous behavior can be conserva-tively approximated with discrete Markov chains, and in previous work we showed how to transform PHCA moni-toring into a constraint optimization problem that can be solved using off-the-shelf reasoners. Our second contri-bution is to show how to combine these and additional known methods to use a HyPHCA to monitor the internal state and plan for contingencies in a rich class of mixed hardware/software, discrete/continuous systems. Prelimi-nary results of our approach for an industrial filling sta-tion scenario demonstrate its feasibility.
