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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Xiaohui Li Zhenping Sun Zhen He Qi Zhu Daxue Liu |
| Copyright Year | 2015 |
| Description | Author affiliation: Coll. of Mechatron. Eng. & Autom., Nat. Univ. of Defense Technol., Changsha, China (Xiaohui Li; Zhenping Sun; Zhen He; Qi Zhu; Daxue Liu) |
| Abstract | This paper presents a practical trajectory planning framework towards fully autonomous driving in urban environments. Firstly, based on the behavioral decision commands, a reference path is extracted from the digital map using the LIDAR-based localization information. The reference path is refined and interpolated via a nonlinear optimization algorithm and a parametric algorithm, respectively. Secondly, the trajectory planning task is decomposed into spatial path planning and velocity profile planning. A closed-form algorithm is employed to generate a rich set of kinematically-feasible spatial path candidates within the curvilinear coordinate framework. At the same time, the velocity planning algorithm is performed with considering safety and smoothness constraints. The trajectory candidates are evaluated by a carefully developed objective function. Subsequently, the best collision-free and dynamically-feasible trajectory is selected and executed by the trajectory tracking controller. We implemented the proposed trajectory planning strategy on our test autonomous vehicle in the realistic urban traffic scenarios. Experimental results demonstrated its capability and efficiency to handle a variety of driving situations, such as lane keeping, lane changing, vehicle following, and static and dynamic obstacles avoiding, while respecting traffic regulations. |
| Starting Page | 1160 |
| Ending Page | 1166 |
| File Size | 1558124 |
| Page Count | 7 |
| File Format | |
| e-ISBN | 9781467372664 |
| DOI | 10.1109/IVS.2015.7225840 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2015-06-28 |
| Publisher Place | South Korea |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Trajectory Vehicles Planning Vehicle dynamics Urban areas Acceleration Roads |
| Content Type | Text |
| Resource Type | Article |
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