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 5.4. The pedestrian scenario. The car must slow to avoid hitting the two pedestrians (red and purple dots with associated trajectories) as well as make the tight right turn. The thick blue line gives the ideal car trajectory and the thick red line is the car’s actual trajectory.