On-Road Intelligent Vehicles——Motion Planning for Intelligent Transportation Systems

作者：Rahul Kala，2016

道路智能车辆：智能交通系统的运动规划涉及自动驾驶汽车技术，特别关注导航和规划方面，分三部分内容。第一部分涉及使用不同的传感器来感知环境，然后映射多域感知以绘制操作场景的地图，包括提供障碍物距离的接近传感器、视觉相机和可用于预处理图像、提取相关特征的计算机视觉技术等主题，并使用神经网络和支持向量机等分类技术来识别道路、车道、车辆、障碍物、红绿灯、标志和行人。

通过对车辆背后技术的详细了解，本书的第二部分重点讨论了运动规划问题。讨论了许多规划技术，并将其适用于多车辆交通场景，包括使用由遗传算法和快速探索随机树组成的基于采样的方法以及基于图搜索的方法，包括算法的分层分解和用于有限探索的节点的启发式选择，基于反应式规划的方法，包括基于模糊的规划、基于势场的规划以及基于弹性条带和逻辑的规划。

本书的第三部分涵盖了与智能交通系统相关的宏观概念，讨论了与交通系统有关的各种主题和概念，包括对交通流的描述、交通系统背后的基本理论以及冲击波的产生。全面覆盖自动驾驶汽车和智能交通系统；详细介绍了导航和规划方面的挑战性问题；教授如何比较、对比和区分导航算法。

原版书籍：

目录：Contents:

Acknowledgement
    1. Introduction
    1.1. Introduction
    1.2. Why Autonomous Vehicles?
    1.3. A Mobile Robot on the Road
    1.4. Artificial Intelligence and Planning
    1.5. Fully Autonomous and Semi-Autonomous Vehicles
    1.6. A Network of Autonomous Vehicles
    1.7. Autonomous Vehicles in Action
    1.8. Other Types of Robots
    1.9. Into the Future
    1.10. Summary
2. Basics of Autonomous Vehicles
    2.1. Introduction
    2.2. Hardware
    2.3. Software
    2.4. Localization
    2.5. Control
    2.6. Summary
3. Perception in Autonomous Vehicles
    3.1. Introduction
    3.2. Perception
    3.3. Computer Vision
    3.4. Recognition
    3.5. Tracking and Optical Flow
    3.6. Vision for General Navigation
    3.7. Summary
4. Advanced Driver Assistance Systems
    4.1. Introduction
    4.2. Information-Based Assistance Systems
    4.3. Manipulation-Based Assistance Systems
    4.4. Feedback Modalities to Driver
    4.5. Multi-Vehicle Systems
    4.6. Communication
    4.7. Summary
5. Introduction to Planning
    5.1. Introduction
    5.2. Layers of Planning
    5.3. Types of Traffic
    5.4. Motion-Planning Primitives
    5.5. Multirobot Motion Planning
    5.6. Motion Planning for Autonomous Vehicles
    5.7. Planning for Special Scenarios
    5.8. Summary
6. Optimization-Based Planning
    6.1. Introduction
    6.2. A Brief Overview of Literature
    6.3. A Primer on Genetic Algorithm (GA)
    6.4. Motion Planning with Genetic Algorithm
    6.5. Coordination
    6.6. Results
    6.7. Summary
7. Sampling-Based Planning
    7.1. Introduction    
    7.2. A Brief Overview of Literature
    7.3. A Primer on Rapidly Exploring Random Trees (RRT)
        Algorithm 7.1: RRT(source, goal)
        Algorithm 7.2: RRT-Connect (source, goal)
        Algorithm 7.3: Bi-directional-RRT (source, goal)
    7.4. Solution With RRT
        Algorithm 7.4: Plan (vehicles, map)
        Algorithm 7.5: RRT (source, segment)
    7.5. Results
    7.6. Solution With RRT-Connect
        Algorithm 7.6: RRT-Connect (source, time, vi)
        Algorithm 7.7: CheckConnect (tree, node)
        Algorithm 7.8: LocalOptimization(τ)
        Algorithm 7.9: Plan (road segment, time)
    7.7. Results
    7.8. Summary
8. Graph Search-Based Hierarchical Planning
    8.1. Introduction
    8.2. A Brief Overview of Literature
    8.3. A Primer on Graph Search
        Algorithm 8.1: Uniform Cost Search (G<V,E>, S, GoalTest)
        Algorithm 8.2: PrintPath(n)
        Algorithm 8.3: A∗ Search (G<V,E>, S, GoalTest)
    8.4. Multilayer Planning
    8.5. Hierarchy 1: Path Computation
    8.6. Hierarchy 2: Pathway Selection
        Algorithm 8.4: getPathwaySegments
        Algorithm 8.5: getPathway
    8.7. Hierarchy 3: Pathway Distribution
        hm 8.6: getDistributedPathway
    8.8. Hierarchy 4: Trajectory Generation
        Algorithm 8.7: getTrajectory
    8.9. Algorithm
        Algorithm 8.8: RoadSegmentPlan
    8.10. Results
    8.11. Summary
9. Using Heuristics in Graph Search-Based Planning
    9.1. Introduction
    9.2. A Brief Overview of Literature
    9.3. Dynamic Distributed Lanes for a Single Vehicle
        Algorithm 9.1: Uniform Cost Search for a Single Vehicle
        Algorithm 9.2: Expansion for a Single Vehicle
    9.4. Dynamic Distributed Lanes for Multiple Vehicles
        Algorithm 9.3: Getting Number of Vehicles Requiring Independent Lanes
        Algorithm 9.4: Division of the Road Into Lanes
        Algorithm 9.5: Trajectory Generation From the Current State to the Expanded State
        Algorithm 9.6: Free-State Expansion Strategy
        Algorithm 9.7: Vehicle-Following Expansion Strategy
        Algorithm 9.8: Wait for Vehicle Expansion Strategy
        Algorithm 9.9: Selection of Expansion Strategy
    9.5. Results
    9.6. Summary
10. Fuzzy-Based Planning
    10.1. Introduction
    10.2. A Brief Overview of Literature
    10.3. A Primer on Fuzzy Logic
    10.4. Fuzzy Logic for Planning
    10.5. Evolution of the Fuzzy Inference System
    10.6. Results
    10.7. Summary
11. Potential-Based Planning
    11.1. Introduction
    11.2. A Brief Overview of Literature
    11.3. A Primer on Artificial Potential Field
    11.4. Lateral Potentials for Planning
    11.5. Results for Lateral Potentials
    11.6. A Primer on Elastic Strip
    11.7. Problem Modelling With an Elastic Strip
    11.8. Solution With an Elastic Strip
        Algorithm 11.1: Extend1(τ, τstrat,vq)
        Algorithm 11.2: Extend(τ, τstrat, vq)
        Algorithm 11.3: Plan(τobs, τ, vq)
    11.9. Results With an Elastic Strip
    11.10. Summary
12. Logic-Based Planning
    12.1. Introduction
    12.2. A Brief Overview of Literature
    12.3. Problem and Solution Modelling
    12.4. Behaviours
        Algorithm 12.1: ObstacleAvoidance(Ri, map)
    12.5. Single-Lane Overtaking
    12.6. Complete Algorithm
        Algorithm 12.2: Plan(Vehicle Ri, Map, Previous Plan τ)
    12.7. Results
    12.8. Summary
13. Basics of Intelligent Transportation Systems
    13.1. Introduction
    13.2. Traffic Systems and Traffic Flow
    13.3. Traffic Simulation
    13.4. Intelligent Constituents of the Transportation System
    13.5. Summary
14. Intelligent Transportation Systems With Diverse Vehicles
    14.1. Introduction
    14.2. A Brief Overview of Literature
    14.3. Semiautonomous Intelligent Transportation System for Diverse Vehicles
    14.4. Congestion Avoidance in City Traffic
    14.5. Summary
15. Reaching Destination Before Deadline With Intelligent Transportation Systems
    15.1. Introduction
    15.2. A Brief Overview of Literature
    15.3. Computing Journey Start Times
    15.4. Algorithm for Computing Journey Start Times
    15.5. Cooperative Transportation Systems
    15.6. Results
    15.7. Summary
16. Conclusions
    16.1. Conclusions
    16.2. Autonomous Vehicles
    16.3. Intelligent Transportation Systems
    16.4. Limitations
    16.5. Closing Remarks
Index

书中实现算法源码：