Planning Universal On-Road Driving Strategies for Automated Vehicles

  • Steffen Heinrich

Part of the AutoUni – Schriftenreihe book series (AUS, volume 119)

Table of contents

  1. Front Matter
    Pages I-XV
  2. Steffen Heinrich
    Pages 7-19
  3. Steffen Heinrich
    Pages 21-32
  4. Steffen Heinrich
    Pages 49-73
  5. Steffen Heinrich
    Pages 75-101
  6. Steffen Heinrich
    Pages 103-116
  7. Steffen Heinrich
    Pages 117-120
  8. Back Matter
    Pages 121-133

About this book


Steffen Heinrich describes a motion planning system for automated vehicles. The planning method is universally applicable to on-road scenarios and does not depend on a high-level maneuver selection automation for driving strategy guidance. The author presents a planning framework using graphics processing units (GPUs) for task parallelization. A method is introduced that solely uses a small set of rules and heuristics to generate driving strategies. It was possible to show that GPUs serve as an excellent enabler for real-time applications of trajectory planning methods. Like humans, computer-controlled vehicles have to be fully aware of their surroundings.  Therefore, a contribution that maximizes scene knowledge through smart vehicle positioning is evaluated. A post-processing method for stochastic trajectory validation supports the search for longer-term trajectories which take ego-motion uncertainty into account.

  • A Framework for Universal Driving Strategy Planning
  • Sampling-Based Planning in Phase Space
  • A Universal Approach for Driving Strategies
  • Modeling Ego Motion Uncertainty
Target Groups
  • Scientists and students in the field of robotics, computer science, mechanical engineering
  • Engineers in the field of vehicle automation, intelligent systems and robotics
About the Author
Steffen Heinrich has a strong background in robotics and artificial intelligence. Since 2009 he has been developing algorithms and software components for self-driving systems in research facilities and for automakers in Germany and the US.


self-driving cars automated vehicles on-road driving strategies motion planning GPU programming trajectory planning autonomous driving decision making high-level maneuver selection automation on-road scenario

Authors and affiliations

  • Steffen Heinrich
    • 1
  1. 1.AutoUniWolfsburgGermany

Bibliographic information

  • DOI
  • Copyright Information Springer Fachmedien Wiesbaden GmbH, part of Springer Nature 2018
  • Publisher Name Springer, Wiesbaden
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-658-21953-6
  • Online ISBN 978-3-658-21954-3
  • Buy this book on publisher's site
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