A real-time obstacle-avoidance trajectory planner for on-road autonomous vehicle is proposed in this paper. A cubic B spline core is parametric to generate path with continuous curvature as well as taking the extreme curvature limited by steer system into account. By sampling the target sets via offsetting along the reference path, lots path sets are produced with same heading. As embedded with collision checker and path evaluator, a path selector could pick out the best one to planning speed profile for coupling trajectory to track. Finally, according to the change of path curvature, the speed profile scheduler addresses the conflict of curvature and deceleration. Referencing to the ISO3888-2:2011, a collision avoidance scenario was design to validate the planner. The test results of ten cycles test illustrate that the planner has high enough real-time performance as mean plan time less than 100ms with success rate about 100%.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A Real-Time Obstacle-Avoidance Trajectory Planner for On-Road Autonomous Vehicle


    Additional title:

    Sae Technical Papers


    Contributors:
    Zeng, Dequan (author) / Xu, Puhang (author) / Lu, Xiong (author) / Li, Yishan (author) / Li, Zhuoren (author)

    Conference:

    SAE 2019 Intelligent and Connected Vehicles Symposium ; 2019



    Publication date :

    2020-02-24




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    A Real-Time Obstacle-Avoidance Trajectory Planner for On-Road Autonomous Vehicle

    Li, Yishan / Lu, Xiong / Zeng, Dequan et al. | British Library Conference Proceedings | 2020


    Trajectory generation for road vehicle obstacle avoidance using convex optimization

    Bevan,G.P. / Gollee,H. / OReilly,J. et al. | Automotive engineering | 2010


    Trajectory generation for road vehicle obstacle avoidance using convex optimization

    Bevan, G.P. / Gollee, H. / O'Reilly, J. | Tema Archive | 2010


    Real-Time Collision Avoidance Trajectory Planner Using Generalized Vector Explicit Guidance

    Hueso, Josep Subies / Mondal, Sabyasachi / Tsourdos, Antonios et al. | TIBKAT | 2023


    Trajectory generation for road vehicle obstacle avoidance using convex optimization

    Bevan, G P / Gollee, H / O'Reilly, J | SAGE Publications | 2010