Title: Autonomous Driving in Dynamic Environments
Authors: Sascha Kolski (1), Dave Ferguson (2), Roland Siegwart (1)
Speaker: Sascha Kolski
Affiliation: (1) Autonomous Systems Lab, ETH Zurich, Switzerland
(2)The Robotics Institute, CMU, Pittsburg
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Abstract:
Autonomous vehicles are being used increasingly often for a range of tasks,
including automated highway driving and automated parking. Such systems are
typically either specialized for structured environments and depend entirely on
such structure being present in their surroundings, or are specialized for
unstructured environments and ignore any structure that may exist.
In this paper, we present a hybrid autonomous system that recognizes and
exploits structure in the environment in the form of driving lanes, yet also
navigates successfully when no such information is present. We believe such an
approach is more flexible and more robust than either of its sub-components
alone. We demonstrate the effectiveness of our system on both marked roads and
unmarked lots under the presence of dynamic
objects like other vehicles.