In this paper we propose a trajectory planning approach for autonomous vehicles on structured road maps. Therefore we are using the well-known A∗ optimal path planning algorithm. We generate a safe optimal trajectory through a three-dimensional graph, considering the two-dimensional position and time. (1) The graph is generated dynamically with fixed time differences and flexible distances between nodes, based on the vehicle's velocity, using a structured road map. (2) Furthermore the position of dynamic obstacles is predicted over time along the road lanes. The proposed Flexible Unit A∗ (FU-A∗) algorithm was tested for real-time applications with execution times of less than 50 ms on the car's main computer. The feasibility and reliability of FU-A∗ is validated by implementing on simulated autonomous car of Freie university “MadeInGermany” using the roadmap of Tempelhof, Berlin.
Flexible unit A-star trajectory planning for autonomous vehicles on structured road maps
2017-06-01
1664523 byte
Conference paper
Electronic Resource
English
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