Design of motion system for autonomous driving vehicles

Abstract

This project aims to design a motion system for autonomous driving vehicles. The motion system is consist of two subsystems, a motion planner and a motion controller. The planner handles decision making and path planning to generate trajectory with waypoints; the controller controls the vehicle to track planned trajectory via throttle, steer and brake commands. This project implements and tests with both traditional method and learning-based method. The designed system is evaluated and verified on CARLA simulator, under various driving scenarios in urban environment.