Autonomous vehicles must be able to react in a timely manner to typical and unpredictable situations in urban scenarios. In this connection, motion planning algorithms play a key role as they are responsible of ensuring driving safety and comfort while producing human-like trajectories in a wide range of driving scenarios. Typical approaches for motion planning focus on trajectory optimization by applying computation-intensive algorithms, rather than finding a balance between optimatily and computing time. However, for on-road automated driving at medium and high speeds, determinism is necessary at high sampling rates. This work presents a trajectory planning algorithm that is able to provide safe, human-like and comfortable trajectories by using cost-effective primitives evaluation based on quintic Bézier curves. The proposed method is able to consider the kinodynamic constrains of the vehicle while reactively handling dynamic real environments in real-time. The proposed motion planning strategy has been implemented in a real experimental platform and validated in different real operating environments, successfully overcoming typical urban traffic scenes where both static and dynamic objects are involved. ; This work was supported in part by the Spanish Ministry of Science, Innovation and Universities with National Project COGDRIVE under Grant DPI2017-86915-C3-1-R, in part by the European Commission through the Projects PRYSTINE under Grant ECSEL-783190-2, in part by SECREDAS under Grant ECSEL-783119-2, and in part by the Community of Madrid through SEGVAUTO 4.0-CM Programme under Grant S2018-EMT-4362. ABSTRACT ; Peer reviewed


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Real-Time Motion Planning Approach for Automated Driving in Urban Environments



    Erscheinungsdatum :

    2019-12-13


    Anmerkungen:

    doi:10.1109/ACCESS.2019.2959432



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629



    Real-Time Motion Planning Approach for Automated Driving in Urban Environments

    Artuñedo García, Antonio / Villagrá Serrano, Jorge / Godoy Madrid, Jorge Luis | BASE | 2019

    Freier Zugriff


    An architecture for automated driving in urban environments

    Chen, Gang / Fraichard, Thierry | Tema Archiv | 2008



    Motion planning in urban environments. Part II

    Ferguson, D. / Howard, T.M. / Likhachev, M. | Tema Archiv | 2008