A motion planner is established to realize piloting automated driving on unstructured roads. It has the following features: i) improved adaptivity to over-the-horizon driving environment, ii) enhanced compatibility with unstructured roads, and iii) guaranteed computational efficiency for real time application. The performance of the proposed motion planner was evaluated in a software-in-the-loop simulation platform. section. The evaluation includes: i) unstructured roads compatibility validation, and ii) validation of adaptivity to traffic events. Experiment results showed that applying the planner can enhance adaptivity to over-the-horizon traffic events on unstructured roads. The average travel efficiency enhancement is about 12.18% and the average perceived risk reduction is about 57.19%.


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    Title :

    Motion Planner for Automated Vehicle on Unstructured Roads


    Contributors:
    Lei, Mingyue (author) / Hu, Jia (author) / Liu, Sijin (author) / Lai, Jintao (author)


    Publication date :

    2024-06-02


    Size :

    932413 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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