Local motion planning plays an important role in an autonomous driving system. And applying mature local motion planning methods to real traffic scenarios with regular constraints is one of the keys to the applications of autonomous vehicles. In this paper, we present a local motion planning method combined with High-Definition (HD) maps. Through the HD map defined by OpenStreetMap, the local motion planner can obtain the prior knowledge of traffic scenarios and achieve path planning and optimization accordingly. In order to improve the safety and comfort of the obstacle avoiding process, we also propose an inertia-like path selection algorithm based on this planning method. We evaluated the proposed method on our designed autonomous driving experimental platform ‘Pioneer’ and participated in the 2018 Intelligent Vehicles Future Challenge. In the competition, the ‘Pioneer’ successfully completed all the races and won the championship without any manual intervention.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    High-Definition Map Combined Local Motion Planning and Obstacle Avoidance for Autonomous Driving


    Contributors:
    Jian, Zhiqiang (author) / Zhang, Songyi (author) / Chen, Shitao (author) / Lv, Xin (author) / Zheng, Nanning (author)


    Publication date :

    2019-06-01


    Size :

    4150803 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    HIGH-DEFINITION MAP COMBINED LOCAL MOTION PLANNING AND OBSTACLE AVOIDANCE FOR AUTONOMOUS DRIVING

    Jian, Zhiqiang / Zhang, Songyi / Chen, Shitao et al. | British Library Conference Proceedings | 2019


    Unified motion planning algorithm for autonomous driving vehicle in obstacle avoidance maneuver

    LEE JIN-WOO / MUDALIGE UPALI PRIYANTHA / GU TIANYU et al. | European Patent Office | 2016

    Free access

    UNIFIED MOTION PLANNING ALGORITHM FOR AUTONOMOUS DRIVING VEHICLE IN OBSTACLE AVOIDANCE MANEUVER

    LEE JIN-WOO / MUDALIGE UPALI PRIYANTHA / GU TIANYU et al. | European Patent Office | 2015

    Free access

    TRAJECTORY PLANNING WITH OBSTACLE AVOIDANCE FOR AUTONOMOUS DRIVING VEHICLES

    YU NING / ZHU FAN / XUE JINGJING | European Patent Office | 2022

    Free access

    Trajectory planning with obstacle avoidance for autonomous driving vehicles

    YU NING / ZHU FAN / XUE JINGJING | European Patent Office | 2024

    Free access