Motion planning for autonomous vehicles not only requires real-time planning of maneuverable trajectories, but also requires it to have good environmental adaptability. This paper takes the intelligent vehicle as the research object, and establishes the kinematics/dynamics model of the vehicle and the kinematics monorail python model. Based on the manipulating automaton generator provided in CommonRoad and the parameters of the vehicle model actually established, a set of motion primitives suitable for general urban roads is generated. Through the improved A* search algorithm, a maneuvering automaton is constructed, and the results show that feasible solutions can be obtained under typical road traffic conditions, and the algorithm is effective and stable.
Motion Planning of Autonomous Driving Vehicles Based on Search Algorithms and Motion Primitives
ECITech 2022 - The 2022 International Conference on Electrical, Control and Information Technology ; 2022 ; Kunming, China
ECITech 2022 ; 6
2022-01-01
6 pages
Conference paper
Electronic Resource
English
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