Autonomous driving mission, scenarios

Autonomous Driving Mission

• Mission is to navigate from point A to point B on the map
• Goal is to find most efficient path

Scenarios

Scenarios affected by road structure and obstacles

Road structure scenarios

• Road structure influences driving scenario through lane boundaries and regulatory emplements such as lane centering, lane change, intersections, U-turn … etc

Obstacle scenarios

• Static and dynamic obstacles also impact the driving scenarios
• Static obstacles
  • Static obstacles restrict which locations our path can occupy
• Dynamic obstacles
  • Most important dynamic obstacle is often the leading vehicle in front of the ego vehicle
    • Need to maintain time gap
  • Dynamic obstacles also impact turns/lane changes as well
  • Depending on locations and speed, different time windows of execution are available for the autonomous vehicle
  • Need to use estimation and prediction to calculate these windows of opportunity
  • Different dynamic obstacles in the scenario have different characteristics and behaviors
    • Pedestrians
    • Cyclists..

Reference: Motion Planning for Self Driving (Coursera)