Different frequencies of maneuver replanning on autonomous vehicles

Abstract: In recent years has autonomous vehicles (AV’s) become a more and more relevant topic. Several big car companies race to get their model out on the market as soon as possible. However building a fully functional AV is not an easy task. One of the main reasons behind this is that safely operating a vehicle requires advanced decision-making. Such advanced decision-making requires a lot of computational power which can lead to the AV taking long time to reach a decision. In this thesis explored how long that time could be while at the same time having the AV drive safely. To do this we created a simulation with an AV alongside randomly generated traffic and limited how often it would make new decisions. Our results showed that updating every 0.5s was needed for driving safely at 50, 70 and 90 km/h and 0.3s was needed for 110 km/h.