Compared to passenger cars, buses have longer lengths and wheel-bases. Therefore, additional planning techniques are required to keep all the edges of the bus within the lane boundary. In this paper, we propose an offset-based planner which calculate drivable-offset from the center line. The proposed planner can be divided into three stages. First, road curvature for the lane is approximated using Bezier curve method. Then, the outer and inner offsets for each lane point is derived from the curvature and vehicle’s parameters. Finally, a new reference path is created based on the selected offsets. The proposed method is verified under actual driving conditions, including left and right turns.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Offset-Based Path Planner for Lane Keeping of Autonomous Bus


    Weitere Titelangaben:

    Lect.Notes Mechanical Engineering


    Beteiligte:
    Huang, Wei (Herausgeber:in) / Ahmadian, Mehdi (Herausgeber:in) / Kim, Gihoon (Autor:in) / Choi, Jaeho (Autor:in) / Han, Sangwon (Autor:in) / Sohn, Hyukju (Autor:in) / Sung, Jihoon (Autor:in) / Huh, Kunsoo (Autor:in)

    Kongress:

    The IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks ; 2023 ; Ottawa, ON, Canada August 21, 2023 - August 25, 2023



    Erscheinungsdatum :

    13.10.2024


    Format / Umfang :

    7 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    LANE-LEVEL ROUTE PLANNER FOR AUTONOMOUS VEHICLES

    WRAY KYLE HOLLINS / WITWICKI STEFAN / ZILBERSTEIN SHLOMO | Europäisches Patentamt | 2024

    Freier Zugriff

    LANE-LEVEL ROUTE PLANNER FOR AUTONOMOUS VEHICLES

    WRAY KYLE HOLLINS / WITWICKI STEFAN / ZILBERSTEIN SHLOMO | Europäisches Patentamt | 2022

    Freier Zugriff

    A Spline-Based Path Planning for Lane Keeping in Autonomous Vehicles

    Hong, Hyeong Keun / Lee, Jin Sun / Kim, Eun Ho et al. | IEEE | 2025


    Optimal Path Planner for Autonomous Vehicles

    International Information Technology Society | British Library Conference Proceedings | 2004


    LANE KEEPING FOR AUTONOMOUS VEHICLES

    HARDÅ PETER / WESTLUND MATHIAS | Europäisches Patentamt | 2024

    Freier Zugriff