Imagine you and your friends are driving in a city. You have a goal you are trying to achieve. You are in the passenger seat and your friend is driving.
You plug that target into Google Maps and you get some directions that will get you there. Drivers shouldn't care about the details of a specific route.
Yes, because the driver trusts your actions, as the navigator, will tell them what action they need to do, and it is
Understand that they are only responsible for enforcing them. In this case, the passenger's responsibility is similar to that of an autonomous car's behavior planner.
So, if you tell your friends to go left, they will. When you tell the driver to pass a slow car,
Drivers won't worry about whether they have enough time to do it because they will think you have thought about it and you are sure they can do it.
But the navigator is not responsible for safety. If you tell the driver to go back to the left lane but there is a car moving, you will assume they will wait to move
until there is enough space to proceed safely. The navigator also tells drivers when to keep their lane and when to turn or change lanes or possibly adjust speed.
Finally, once you reach your destination, you will tell the driver to stop. So, to sum up, behavioral planners are
Currently a black box that takes a world map as input, a route to a destination, and predicts what might happen to other static and dynamic obstacles,
And as an output an adjusted maneuver of the vehicle is produced.
Trajectory planners are responsible for achieving collision-free, smooth and safe . The goal of this lesson is to open up this black box and learn how to implement a behavior plan.
So the Responsible Conduct module will suggest feasible maneuvers to be as safe, legal and efficient as possible. Behavior planners are not responsible for implementing details and avoiding collisions.
The behavior planning method we'll be teaching, this lesson is the same one used in most vehicles, including winners in the DARPA Urban Challenge.
In fact, this is a method, behavioral planning that Mercedes uses in their Bertha Benz Drive,
You can see that it is capable of handling complex traffic situations such as navigating intersections and dense urban traffic.
While this method is not necessarily the most common, it is well known in the field for reasons we will discuss later, and it does give
Have a very high-level understanding of what happens to the behavior planner.