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PRORETA 5 – building blocks for automated urban driving enhancing city road safety

Popp, Christoph ; Serov, Andre ; Glatzki, Felix ; Ziegler, Christoph ; Olaru, Andreea-Iulia ; Maldonado, Jaime ; Clemens, Joachim ; Adamy, Jürgen ; Arbitmann, Maxim ; Leon, Florin ; Peters, Steven ; Schill, Kerstin ; Schräbler, Sighard ; Winner, Hermann (2024)
PRORETA 5 – building blocks for automated urban driving enhancing city road safety.
In: Automatisierungstrechnik, 72 (4)
doi: 10.1515/auto-2023-0092
Article, Bibliographie

Abstract

In the joint research project PRORETA 5, building blocks for automated driving in urban areas have been developed, implemented, and tested. The developed blocks involve an object tracking for cars, bicycles, and pedestrians that feeds a multimodal object prediction which is able to predict the traffic participants’ most likely trajectories. Then, an anytime tree-based planning algorithm calculates the vehicle’s desired path. Finally, logic-based safety func- tions ensure a collision-free trajectory for the ego vehicle. The mentioned building blocks were integrated and tested in a prototype vehicle in urban scenarios. Furthermore, a novel general framework for specifying and testing traffic rule compliance has been developed. In this paper, the auto- mated driving concept of PRORETA 5 is introduced and the developed methods are briefly explained.

Item Type: Article
Erschienen: 2024
Creators: Popp, Christoph ; Serov, Andre ; Glatzki, Felix ; Ziegler, Christoph ; Olaru, Andreea-Iulia ; Maldonado, Jaime ; Clemens, Joachim ; Adamy, Jürgen ; Arbitmann, Maxim ; Leon, Florin ; Peters, Steven ; Schill, Kerstin ; Schräbler, Sighard ; Winner, Hermann
Type of entry: Bibliographie
Title: PRORETA 5 – building blocks for automated urban driving enhancing city road safety
Language: English
Date: 8 April 2024
Place of Publication: Berlin
Publisher: de Gruyter
Journal or Publication Title: Automatisierungstrechnik
Volume of the journal: 72
Issue Number: 4
DOI: 10.1515/auto-2023-0092
URL / URN: https://www.degruyter.com/document/doi/10.1515/auto-2023-009...
Abstract:

In the joint research project PRORETA 5, building blocks for automated driving in urban areas have been developed, implemented, and tested. The developed blocks involve an object tracking for cars, bicycles, and pedestrians that feeds a multimodal object prediction which is able to predict the traffic participants’ most likely trajectories. Then, an anytime tree-based planning algorithm calculates the vehicle’s desired path. Finally, logic-based safety func- tions ensure a collision-free trajectory for the ego vehicle. The mentioned building blocks were integrated and tested in a prototype vehicle in urban scenarios. Furthermore, a novel general framework for specifying and testing traffic rule compliance has been developed. In this paper, the auto- mated driving concept of PRORETA 5 is introduced and the developed methods are briefly explained.

Alternative Abstract:
Alternative abstract Language

Im Projekt PRORETA 5 wurden Funk- tionsbausteine für das automatisierte Fahren im urbanen Umfeld entwickelt, implementiert und getestet. Die entwi- ckelten Elemente umfassen eine Objektverfolgung für Autos, Fahrräder und Fußgänger, welche als Grundlage für eine multimodale Objektprädiktion dient, die in der Lage ist, die wahrscheinlichsten Trajektorien der Verkehrsteilnehmer vorherzusagen. Anschließend berechnet ein baumbasierter Planungsalgorithmus den gewünschten Pfad des Fahrzeugs. Schließlich gewährleisten logikbasierte Absicherungsfunktionen eine kollisionsfreie Trajektorie für das Ego-Fahrzeug. Die genannten Bausteine wurden in ein Prototypenfahrzeug integriert und in städtischen Szenarien getestet. Darüber hinaus wurde ein neuartiger generischer Ansatz für die Spezifikation und Prüfung der Verkehrsregelkonformität entwickelt. In diesem Beitrag wird das automatisierte Fahrkonzept von PRORETA 5 vorgestellt und die entwickelten Methoden kurz erläutert.

UNSPECIFIED
Uncontrolled Keywords: automated driving; urban driving; safety; Automatisiertes Fahren; urbanes Fahren; Absicherung
Divisions: 16 Department of Mechanical Engineering
16 Department of Mechanical Engineering > Institute of Automotive Engineering (FZD)
16 Department of Mechanical Engineering > Institute of Automotive Engineering (FZD) > Driver Assistance
16 Department of Mechanical Engineering > Institute of Automotive Engineering (FZD) > Safety
Date Deposited: 12 Apr 2024 06:58
Last Modified: 12 Apr 2024 06:58
PPN: 517125188
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