A Trajectory Planning Algorithm for Highly Automated Driving in Complex Environment

被引：0
|
作者：
Zhang, Sumin [1 ,2 ]
Wang, Yu [1 ]
Huang, Qingling [3 ]
Wang, Shanshan [1 ]
机构：
[1] Jilin Univ, State Key Lab Automot Simulat & Control, Changchun 130022, Peoples R China
[2] Jilin Univ, Coll Comp Sci & Technol, Changchun 130022, Peoples R China
[3] FAW CAR CO LTD, Changchun 130022, Peoples R China
来源：
2013 FOURTH INTERNATIONAL CONFERENCE ON DIGITAL MANUFACTURING AND AUTOMATION (ICDMA) | 2013年
基金：
美国国家科学基金会;
关键词：
Trajectory planning; intelligent driver model; highly automatic vehicle driving;
D O I：
10.1109/ICDMA.2013.22
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper tries to present an trajectory planning algorithm applied in an intelligent driver model to control an unmanned ground vehicle in complex environment. The proposed trajectory planning algorithm takes into account of the surrounding environment, including lanes and road geometries, surrounding obstacles, including static obstacles and moving obstacles, and traffic infrastructure; and a decision making process determines an optimum trajectory to follow safely and comfortably based on the analysis of the travelable region and traffic rules. The concept presented in this paper is demonstrated through simulation and the results are discussed.
引用
收藏
页码：88 / 93
页数：6
相关论文
共 50 条
  • [1] Trajectory planning and optimization algorithm for automated driving based on Frenet coordinate system
    基于Frenet坐标系的自动驾驶轨迹规划与优化算法
    [J]. Wei, Min-Xiang (weimx@nuaa.edu.cn), 1600, Northeast University (36): : 815 - 824
  • [2] Model Predictive Trajectory Planning for Automated Driving
    Yi, Boliang
    Bender, Philipp
    Bonarens, Frank
    Stiller, Christoph
    [J]. IEEE TRANSACTIONS ON INTELLIGENT VEHICLES, 2019, 4 (01): : 24 - 38
  • [3] Task Planning for Highly Automated Driving
    Chen, Chao
    Gaschler, Andre
    Rickert, Markus
    Knoll, Alois
    [J]. 2015 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), 2015, : 940 - 945
  • [4] Towards Courteous Behavior and Trajectory Planning for Automated Driving
    Speidel, Oliver
    Graf, Maximilian
    Thanh Phan-Huu
    Dietmayer, Klaus
    [J]. 2019 IEEE INTELLIGENT TRANSPORTATION SYSTEMS CONFERENCE (ITSC), 2019, : 3142 - 3148
  • [5] Trajectory Planning for Automated Driving Based on Ordinal Optimization
    Fu, Xiaoxin
    Jiang, Yongheng
    Huang, Dexian
    Huang, Kaisheng
    Wang, Jingchun
    [J]. TSINGHUA SCIENCE AND TECHNOLOGY, 2017, 22 (01) : 62 - 72
  • [6] Trajectory Planning for Automated Driving Based on Ordinal Optimization
    Xiaoxin Fu
    Yongheng Jiang
    Dexian Huang
    Kaisheng Huang
    Jingchun Wang
    [J]. Tsinghua Science and Technology, 2017, 22 (01) : 62 - 72
  • [7] A Tractable Interaction Model for Trajectory Planning in Automated Driving
    Ziehn, J. R.
    Ruf, M.
    Willersinn, D.
    Rosenhahn, B.
    Beyerer, J.
    Gotzig, H.
    [J]. 2016 IEEE 19TH INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC), 2016, : 1410 - 1417
  • [8] An Ant System Algorithm for Automated Trajectory Planning
    Ceriotti, Matteo
    Vasile, Massimiliano
    [J]. 2010 IEEE CONGRESS ON EVOLUTIONARY COMPUTATION (CEC), 2010,
  • [9] Unmanned aerial vehicle trajectory planning by an integrated algorithm in a complex obstacle environment
    Zhang, Siyu
    Yu, Jianqiao
    Mei, Yuesong
    Sun, Huadong
    Du, Yongbo
    [J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING, 2017, 231 (11) : 2048 - 2067
  • [10] Kinematic real-time trajectory planning with state and input constraints for the example of highly automated driving
    Joos, Steffen
    Bruder, Roktim
    Specker, Thomas
    Bitzer, Matthias
    Graichen, Knut
    [J]. 2019 23RD INTERNATIONAL CONFERENCE ON SYSTEM THEORY, CONTROL AND COMPUTING (ICSTCC), 2019, : 779 - 784
12345