[자율주행 스터디] Introduction to Self-Driving cars - Week 1-3

Week 1

Course info.

• https://www.coursera.org/learn/intro-self-driving-cars?
  • UNIVERSITY OF TORONTO

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Lesson 3. Driving Decisions and Actions

Contents

• Planning : types (window of time), examples
• Various decisions needed for a simple intersection scenario
• Type of planning
  • Reactive
  • Predictive

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Planning : Examples

• Making decisions

  • Long-term (Entire driving task) (출발지에서 목적지까지의 계획)
    • How to navigate from New York to L.A.
  • Short-term
    • Can I change my late to the lane right of me?
    • Can I pass this intersection and join the left road?
  • Immediate
    • Can I stay on track on this curved road?
    • Accelerate or brake, by how much?
  • Example : Turning left at an intersection
    • This was a simple maneuver, yet it takes 3~4 levels of decisions and control to execute.

• Consider how many rules would it take to drive.

  • Safely
  • Efficiently
  • Following all listed traffic rules
  • Only follow those rules everyone else is following!

Driving decision making is complicated!

• Rule Based Planning (Consider only current state and information)
  • What we just did was rule based planning
    • Involved decision trees!
  • In reactive rule based planning, we have rules that take into account the current state of ego and other objects and give decisions.
  • Examples:
    • If there is a pedestrian on the road, stop. (현재 상황 -> 취할 행동)
    • If speed limit changes, adjust speed to match it. (현재 상황 -> 취할 행동)

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What other types of planning are there?

• Predictive planning (Relies on accurate prediction)
  • Make predictions about other vehicles and how they are moving. Then use these predictions to inform our decisions.
  • Examples
    • That car has been stopped for the last 10 seconds. It is going to be stopped for the next few seconds.
    • Pedestrian is jaywalking. She will enter our lane by the time we reach her.

Dictionary

Jaywalking : 무단 횡단