NDLI: Path Planning and Decision Making for Autonomous Vehicle in Urban Environment

Content Provider	IEEE Xplore Digital Library
Author	Mengyin Fu Wenjie Song Yang Yi Meiling Wang
Copyright Year	2015
Description	Author affiliation: State Key Lab. of Intell. Control & Decision of Complex Syst., Beijing Instn. of Technol., Beijing, China (Mengyin Fu; Wenjie Song; Yang Yi; Meiling Wang)
Abstract	In this paper, we focus on the need for autonomous vehicles' path planning and decision making in the urban environment. In our modified method, traffic lanes, road edge and geographic information system(GIS) are integrated to generate three structured road models, which can be used to reduce car's lateral positioning error and guarantee car's driving stably without a precise pre-computed map for localization. Based on these models, car's position, attitude and speed are taken into account to find an optimal guided path and a suitable behavior strategy to keep our car obeying traffic rules. Thus, in the whole architecture, the instability of some modules' detection results and low positioning accuracy of GPS receiver is resolved. Applied to our autonomous vehicle - $IN^{2}BOT,$ which has taken part in "Chinese Intelligent Vehicle Challenge" for many times, this method is proved more effective than our previous method after experiments under various conditions.
Starting Page	686
Ending Page	692
File Size	6640748
Page Count	7
File Format	PDF
ISSN	21530017
e-ISBN	9781467365963
DOI	10.1109/ITSC.2015.117
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-15
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Roads Vehicles Decision making Planning Mobile robots Image edge detection
Content Type	Text
Resource Type	Article

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