Path planning algorithms for autonomous vehicles need to account for safety and comfort, more so, in scenarios where the possibility of casualties are higher due to increased traffic frequency and limited visibility. In this paper, we discuss the idea of a virtual obstacle deployed at occluded scenarios to avoid a potential collision or severe deceleration of the ego-vehicle. Urban scenarios like intersections, roundabout and merging are experimented. Results of simulating the integration of virtual obstacle with the trajectory planning algorithm, are analyzed in detail comparing speed and acceleration profiles.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Virtual Obstacle for a Safe and Comfortable Approach to Limited Visibility Situations in Urban Autonomous Driving




    Publication date :

    2022-06-05


    Size :

    1923463 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Windshield display for safe and comfortable driving

    Nakamura,K. / Inada,J. / Kakizaki,M. et al. | Automotive engineering | 2005


    Windshield Display for Safe and Comfortable Driving

    Ando, Hiroshi / Inada, Jyunya / Nakamura, Koji et al. | SAE Technical Papers | 2005


    Safe, Efficient, and Comfortable Velocity Control based on Reinforcement Learning for Autonomous Driving

    Zhu, Meixin / Wang, Yinhai / Pu, Ziyuan et al. | ArXiv | 2019

    Free access

    Fast Obstacle Detection for Urban Traffic Situations

    Franke, U. / Heinrich, S. / Institute of Electrical Engineers | British Library Conference Proceedings | 2002


    Fast Obstacle Detection for Urban Traffic Situations

    Franke, U. / Heinrich, S. | British Library Online Contents | 2002