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 4.2. This predicate determines whether a car at point p at time t might with a pedestrian κ. Here Dst is the stopping distance, which is the minimum distance the car can be safely stopped (defined in terms of the maximum comfortable braking speed Brmax). Implicit are the variables pos, for the agent’s current position, and l, for the car’s length. Dp is the distance from the pedestrian to stop. The first clause of the conditional prevents the car from slowing too soon, while the second checks for actual collisions.