无人驾驶路径规划论文_无人驾驶汽车从论文到会议论文的追逐

无人驾驶路径规划论文

It was a year ago (summer 2019) when I was deciding what topic to choose for my bachelor thesis. At the time I was finishing an internship at the European Space Agency where I worked on mineralogical machine learning research¹. However, I also knew that at my university there is a lot of research with self-driving cars in collaboration with Toyota. While mineralogical research that could be possibly used in future planetary missions is very important, self-driving cars are not only exciting, but also tangible and presentable. So I contacted my former research supervisor from my university whether he had any research ideas in this area. Among many proposed, I was most excited by Autonomous Car Chasing.

一年前(2019年夏季)，我正在决定为我的学士论文选择哪个主题。 当时，我正在欧洲航天局完成实习，在那里我从事矿物学机器学习研究 ¹。 但是，我也知道，在我的大学里，有很多与丰田合作的无人驾驶汽车研究。 虽然这可能在未来行星任务可能被用于矿物学研究是非常重要的，自动驾驶汽车不仅令人兴奋，但也是有形的和像样的 。 因此，我联系了我大学的前研究主管，他是否对此领域有任何研究想法。 在提出的众多建议中，自动驾驶汽车追逐令我最为兴奋。

为什么要追车？ (Why Car Chasing?)

When you look at autonomous cars in real-life, you will see that they are most often used in situations when the driving is too boring for a driver. They are used on a highway in a traffic jam or in a convoy driving at a near-constant speed. However, regular traffic forces the drivers to react to many unexpected situations and perform dynamic maneuvers. The proposed car chasing scenario, in which an autonomous car chases a non-cooperative vehicle that actively tries to drive away, is so extreme that an autonomous vehicle with car chasing capabilities can surely handle regular traffic.

在现实生活中观察自动驾驶汽车时，您会发现它们最常用于驾驶员无聊的情况。 它们用在高速公路上的交通拥堵中或以接近恒定的速度行驶的车队中。 但是，常规交通迫使驾驶员对许多意外情况做出React并进行动态操纵。 拟议的汽车追逐场景非常极端，以至于无人驾驶汽车追逐主动试图驶离的非合作车辆，因此具有汽车追逐能力的自动驾驶汽车肯定可以应付正常的交通。

新的具有挑战性的数据集 (New challenging dataset)

The first task was to create an autonomous car chasing system and test it in CARLA. To perform the experiments we first collected a new challenging publicly available CARLA Car Chasing Dataset collected by manually driving the chased car. We created a baseline algorithm, which detected the pursued car and then basically drove straight after it. This approach had a huge flaw. It wasn’t c