We propose a trajectory planning approach for autonomous vehicles in highly dynamic traffic scenarios, using elastic bands to follow the observed trajectories of other vehicles. The focus of this paper is on the initialization of the elastic band. The proposed method does not rely on a map. We tested our method using recorded urban traffic data. The results show that the presented approach is valid and the proposed initialization process is clearly superior to naive initialization.
Following Cars With Elastic Bands
2018 IEEE Intelligent Vehicles Symposium (IV) ; 1529-1536
2018-06-01
1354766 byte
Conference paper
Electronic Resource
English
FOLLOWING CARS WITH ELASTIC BANDS
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