Research on autonomous vehicle has mainly focused on 3 main layers: perception, planning, and control. Each one of these layers presents very different specificities, and are often addressed separately, with in general strong assumptions on the behavior of the other components of the vehicle.

1. Simultaneous Localization and MappingPermalink

2. GLobal Planning (Model Predictive Control)Permalink

3. Localization (SynPF)Permalink

4. Local Cost MapPermalink

5. Controller (Model Path Integral Control)Permalink

kinematics에 pacejka magic fomula를 추가한 dynamics를 풀면 더 성능이 좋아지지 않을까?

차량의 더 복잡한 dynamics에는 어떤 게 있을까?

6. SystemPermalink

ReferencePermalink

• The Kinematic Bicycle Model: a Consistent Model for Planning Feasible Trajectories for Autonomous Vehicles?