Identifizierung und Kartierung dynamischer Umgebungen für autonome Fahrzeuge


This master thesis deals with the construction of a topological map on an unknown roadway. This task will be handled on basis of the RatSLAM algorithm on an autonomous vehicle with 1:10 scale. The created map should take place with upgrades. The created map shall be enhanced with map information such as curve start and end point, obstacles and crossings. For this task, a obstacle and crossing recognition system is developed, which checks both lanes.