Self-driving cars have the potential to revolutionize transportation by making it cheaper, safer, and more efficient. In this thesis we describe a novel motion planning system, which translates high-level navigation goals into low-level actions for controlling a vehicle. Specifically, the motion planning system is responsible for choosing at each time step an appropriate velocity and steering angle, which can then be implemented by the driving hardware or simulator. Our planner is able to… CONTINUE READING
Figure 3.2. A representation of the state space as a three level tree. The root node is the current state, with time t = 0. The second level covers half of the time horizon Ts and includes values of φ ranging from φ− φi to φ+ φi by φe. The third level covers the rest of the horizon.