Vehicle guidance for an autonomous vehicle

Abstract

Describes the vehicle guidance system of an autonomous vehicle. This system is part of the control structure of the vehicle and consists of a path generator, a motion planning algorithm and a sensor fusion module. A stereo vision sensor and a DGPS sensor are used as position sensors. The trajectory for the vehicle motion is generated in a first step by using only information from a digital map. Object-detecting sensors such as the stereo vision sensor, three laser scanners and a radar sensor observe the vehicle environment and report detected objects to the sensor fusion module. This information is used to dynamically update the planned vehicle trajectory to the final vehicle motion.