We present a two-lane path planning of autonomous vehicles in two-and-a-half-dimensional (2.5D) environments. Our method builds on collision-free two-dimensional (2D) path-planning techniques from our previous work, and extends these techniques to 2.5D by mapping a 2D path in the parameter space onto a terrain graph surface, as a curve on the surface in the object space. Based on this path on the terrain surface, we propose a novel method of designing cross slopes in high curvature regions of the path, such that vehicles need not slow down in these regions. Furthermore, we apply time-optimal control techniques developed in robotics to compute the minimal-time speed control along the specified path. Examples are provided to demonstrate the effectiveness of the proposed algorithm.


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    Titel :

    Two-Lane Path Planning of Autonomous Vehicles in 2.5D Environments


    Beteiligte:
    Usami, Riku (Autor:in) / Kobashi, Yuji (Autor:in) / Onuma, Taiki (Autor:in) / Maekawa, Takashi (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.06.2020


    Format / Umfang :

    5897873 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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