Real-time path planning constitutes one of the hot topics when developing automated driving. Different path planning techniques have been studied in both the robotics and automated vehicles fields trying to improve the trajectory generation and its tracking. In this paper, a novel local path planning algorithm combining both off-line and real-time generation for automated vehicles in urban environments is presented. It takes advantage of an off-line planning strategy to achieve a smooth and continuous trajectory generation with adjacent consecutive intersections. Therefore, this approach allows a smooth and continuous trajectory by means of planning consecutive curves concurrently, i.e., it will plan the upcoming curve and the following one in advance, taking into account the constraints of the infrastructure and the physical limitations of the vehicle. The real-time planning algorithm has been tested in simulation based on the INRIA-RITS vehicles architecture. The results obtained show an improvement in the smoothness, continuity and comfort of the generated paths.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Real-time planning for adjacent consecutive intersections


    Contributors:


    Publication date :

    2016-11-01


    Size :

    681166 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English





    Travel Time Measuring by Using Vehicle Sequence Matching between Adjacent Intersections

    Kawahara, T. / Kamijo, S. / Sakauchi, M. et al. | British Library Conference Proceedings | 2005


    GAMEOPT: Optimal Real-time Multi-Agent Planning and Control for Dynamic Intersections

    Suriyarachchi, Nilesh / Chandra, Rohan / Baras, John S. et al. | IEEE | 2022


    Signalized Intersections—Planning Methodology

    Prassas, Elena S. / P. Roess, Roger | Springer Verlag | 2020