Conception and Development of an Interaction Framework for a Collaborative Assistance Vehicle.

Format:

Book

Author/Creator:

Sefati, Mohsen.

Language:

English

Subjects (All):

Automated vehicles.

Human-computer interaction.

Physical Description:

1 online resource (232 pages)

Edition:

1st ed.

Place of Publication:

Aachen : Apprimus Wissenschaftsverlag, 2021.

Summary:

This work presents a new concept of a Collaborative Assistance Vehicle with high interaction capabilities for collaboration with external users outside the vehicle. This work proposes a functional architecture for level 4 automated driving that focuses on an interaction framework, along with algorithmic solutions for implementing core function modules. Perception, command extraction, and behavior planning are part of the core function modules. All of these modules will be implemented and evaluated.

Contents:

Intro

Preface

List of Contents

List of Figures

Abbreviations and Symbols

Abstract

Kurzfassung

1 Introduction and goal

1.1 Motivation and the problem statement

1.1.1 Use-case of Assistance Vehicle

1.1.2 Advantages of Assistance Vehicle

1.1.3 Use-case of Collaborative Assistance Vehicle

1.1.4 Goal of this thesis

1.2 Research methodology

1.2.1 Scientific-theoretical basis of the thesis

1.2.2 Methodological basis of the thesis

1.2.3 Basic research objective and scientific contribution

1.2.4 Structure of the thesis

2 Fundamentals and requirement analysis

2.1 Assistance Vehicles in last mile

2.1.1 Automation concepts for last mile

2.1.2 Characteristics of the last mile

2.2 The theory and the terminology of an interaction

2.2.1 Definition of an interaction

2.2.2 Types of interaction

2.2.3 Directions of interaction

2.2.4 Conclusion

2.3 Scenario-based requirement definition

2.3.1 Scenario catalog

2.3.2 Behavior catalog

2.4 Diagonal interaction with external user

2.4.1 Maneuver-based interaction

2.4.2 Requirements of an interaction with external user

2.5 Horizontal interaction with other road participants

2.5.1 Behavior planning model

2.5.2 Communication channels in the context of road traffic

2.5.3 Requirements of an interaction with other road participants

2.6 Summary and conclusions

3 Functional architecture of an interaction framework

3.1 Functional architecture for automated vehicles

3.1.1 Basic architecture

3.1.2 An abstract and multi-level reference architecture

3.2 Integration of interaction framework for external user

3.2.1 Maneuver catalog

3.2.2 Essential modules for command set extraction

3.2.3 Interfaces to the reference architecture

3.3 Integration of interaction framework for other road participants.

3.3.1 Essential modules for Longitudinal behavior planning

3.3.2 Interfaces to the reference architecture

3.4 Summary and conclusions

4 Perception

4.1 Scene modeling

4.1.1 Multi-sensor concept

4.1.2 Detection of scenery elements

4.1.3 Structure overview for environment perception

4.1.4 Ground extraction

4.1.5 Hypotheses generation

4.1.6 Multi-object tracking

4.1.7 Static obstacle map

4.2 Scene prediction

4.2.1 Maneuver prediction

4.2.2 Trajectory prediction

4.3 Summary and conclusions

5 Command extraction

5.1 Trajectory exploring

5.1.1 Exploring based on modified RRT

5.1.2 Exploring based on skeletonization and lattice state

5.2 Trajectory clustering and maneuver abstraction

5.3 Summary and conclusions

6 Longitudinal behavior planning

6.1 Behavior planning for automated vehicles

6.2 Partially Observable Markov Decision Process (POMDP)

6.3 Solving POMDP

6.3.1 Solver algorithm

6.3.2 Monte Carlo value iteration

6.3.3 Performance improvements

6.4 Formulating the behavior planning problem as POMDP

6.4.1 State space

6.4.2 Action space

6.4.3 Observation space

6.4.4 Transition model

6.4.5 Observation model

6.4.6 Multi-resolution planning

6.4.7 Reward function

6.4.8 Collision detection

6.5 Summary and conclusions

7 Evaluation

7.1 Evaluation of environment modeling

7.2 Evaluation of command extraction

7.3 Evaluation of environment prediction and behavior planning

7.4 Summary and conclusions

8 Conclusion and Outlook

8.1 Summary and conclusion

8.2 Outlook

9 Appendix

10 Bibliography.

Notes:

Description based on publisher supplied metadata and other sources.

Part of the metadata in this record was created by AI, based on the text of the resource.

ISBN:

9783863599676

3863599675

OCLC:

1249472356