On-vehicle deployment
Autonomous Vehicle Deployment
Behavior planning and trajectory generation deployed on a Kia Soul autonomous vehicle.
Industry · Integrant, Inc. · Behavior Planning Engineer
Real vehicle · Kia Soul driving autonomously
Other autonomous maneuver demonstrations
Maneuver algorithm demo
Behavior-tree overtaking
Maneuver algorithm demo
Parallel parking with Apollo
Maneuver algorithm demo
Reinforcement-learning parking
The problem
A vehicle planner must translate driving decisions into smooth, collision-free trajectories and operate with real perception and control systems.
My contribution
- Developed and deployed decision-making algorithms in the Apollo autonomous driving stack.
- Designed trajectory generation using a Frenet-frame representation.
- Collaborated with perception and control teams on sensor and actuation integration.
- Designed scenarios, diagnosed errors, and iteratively refined behavior across urban, highway, and intersection tests.
Technical approach
Work combined behavior planning, trajectory generation, system integration, and on-vehicle validation on a Kia Soul platform. The videos include real-vehicle driving footage and separate maneuver-algorithm demonstrations covering behavior-tree overtaking, Apollo parallel parking, and reinforcement-learning parking.
Results & validation
Validated across 50+ driving scenarios
The deployment was validated across more than 50 scenarios. Detailed performance measures and baseline definitions will accompany the evaluation material.
Project photos
Kia Soul autonomous vehicle
Working with the vehicle
