Linear Safety Constraints for Urban Automated Driving: a Case Differentiation

摘要: Motion planning algorithms for control of automated vehicles in urban scenarios must be provided with safety constraints preventing collisions with traffic participants. Constraints must be designed to handle several different possible traffic scenarios appropriately. In this work, a novel systematic procedure to generate non-conservative linear safety constraints is introduced. We provide a detailed study of possible relative configurations of the automated vehicle with respect to one traffic p...»