DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | 심현철 | - |
dc.contributor.author | Nah, Sungwon | - |
dc.contributor.author | 나성원 | - |
dc.date.accessioned | 2024-07-30T19:30:51Z | - |
dc.date.available | 2024-07-30T19:30:51Z | - |
dc.date.issued | 2024 | - |
dc.identifier.uri | http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=1096201&flag=dissertation | en_US |
dc.identifier.uri | http://hdl.handle.net/10203/321416 | - |
dc.description | 학위논문(석사) - 한국과학기술원 : 로봇공학학제전공, 2024.2,[v, 51 p. :] | - |
dc.description.abstract | In this paper, we propose an interaction-aware trajectory prediction algorithm considering mutual influence in high-speed autonomous racing. For stable overtaking in 1:N races, it is essential to predict the trajectory of surrounding vehicles taking into account the inter-vehicle effects. To achieve this, we apply the Model Predictive Path Integral technique to trajectory prediction, considering not only information about neighboring vehicles but also prior knowledge about the race track and uncertainty. Model Predictive Path Integral-based prediction is complemented by incorporating a Maneuver Intention Estimation-based trajectory prediction, making it robust to various racing scenarios. To improve trajectory prediction performance, we propose a multimodal perception pipeline that ensures accuracy, reliability, and real-time capability in high-speed environments. The proposed algorithm has been validated in both simulation and real racing tracks, operating at 20ms to ensure real-time performance in high-speed environments. | - |
dc.language | eng | - |
dc.publisher | 한국과학기술원 | - |
dc.subject | 자율주행 레이싱▼a3D 객체 인식▼a딥러닝▼a센서퓨전▼a경로 예측 | - |
dc.subject | Autonomous racing▼a3D object detection▼aDeep learning▼aSensor fusion▼aTrajectory prediction | - |
dc.title | Interaction-aware trajectory prediction for opponent vehicle in high speed autonomous racing | - |
dc.title.alternative | 고속 자율주행 레이싱에서의 상호작용을 고려한 상대 차량 경로 예측 | - |
dc.type | Thesis(Master) | - |
dc.identifier.CNRN | 325007 | - |
dc.description.department | 한국과학기술원 :로봇공학학제전공, | - |
dc.contributor.alternativeauthor | Shim, Hyunchul | - |
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