iDecide

Purpose and goal:

The purpose is to develop motion planning algorithms for autonomous vehicles in urban environments, where there are uncertainties in the future motion of surrounding road users. The objectives with the project are to develop algorithms for the simultaneous discrete and continuous aspects present in the decisions required for these applications, handle situations with several road users where the uncertainty of their future motion is non-trivial, exploit interactions with other road users, handle situations with traffic rules, map data and potential hazards in occluded areas.

Expected results and effects:

The result of the project is expected to lead to an algorithmic framework capable of handling complex traffic situations in urban environments, including several surrounding road users of different types. In particular, the results are expected to be useful for heavy vehicles where the motion model of the vehicle can be more advanced and it is more important to exploit interactions with other road users to be able to move efficiently in the traffic.

Approach and implementation:

The project will be executed in several steps, where an early step is to analyze existing methods for passenger cars and to study the properties of such state-of-the-art methods and judge if they are suitable for the heavy vehicle application. One or more such methods will be studied and modified to meet the additional requirements present for heavy and large vehicles, both in terms of advanced motion models as well as in terms of larger need for interaction with other vehicles.

Through the entire project, theoretical results will be verified in simulations and later also in a real vehicle.