L11 EGs

• sense

  • localization

  • perception

  • human attention model

• plan

  • prediction

  • trajectory planning

• check & act

  • safety check

  • trajectory control

• Bicycle Model

• Two-Track Model

• no wheel track

• CoG on road surface

• no pitch and roll

• linear tire model

• wheel track available

• CoG not on road surface

• pitch and roll

• dynamic load

• highest level data

• shows where to go from a to b

multiple positions to which car should move

path with time/velocity information (explicit, implicit)

• front axle

• CoG

• Rear axle

• calculate optimum point in which the distance to the side in curves is the same on both sides

• further front: smaller needed lane width for right turn

• further back: smaller nlw for left turn

• determine radius around point approximation

• space configuration

  • sampling based decomposition

  • connected cells decomposition

  • lattice representation

• pathfinding algorithms

  • Dijkstra

  • Rapidly exploring random tree

• attractive and repulsive forces

  • artificial potential field

• AI

  • Logic-based-approach

  • Approximate Reasoning

• top down failure analysis

• understand how a system can fail

• using boolean logic operators

• Top/intermediate events

• Basic events

• undeveloped events

• AND gate

• OR gate