Abstract
This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in urban conditions. This is achieved through several features. Firstly, a convenient geometrical representation of both the search space and driving constraints enables the use of classical path planning approach. Thus, a wide variety of constraints can be tackled simultaneously (other vehicles, traffic lights, etc.). Secondly, an exact cost-to-go map, obtained by solving a relaxed problem, is then used by A∗-based algorithm with model predictive flavour in order to compute the optimal motion trajectory. The algorithm takes into account both distance and time horizons. The approach is validated within a simulation study with realistic traffic scenarios. We demonstrate the capability of the algorithm to devise plans both in fast and slow driving conditions, even when full stop is required.
Original language | English |
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Title of host publication | Proceedings 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) |
Editors | Carlos Balaguer, Hajime Asama, Danica Kragic, Kevin Lynch |
Place of Publication | Piscataway, NJ, USA |
Publisher | IEEE |
Pages | 4523-4530 |
ISBN (Electronic) | 978-1-5386-8094-0 |
DOIs | |
Publication status | Published - 2018 |
Event | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain Duration: 1 Oct 2018 → 5 Oct 2018 |
Conference
Conference | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 |
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Country/Territory | Spain |
City | Madrid |
Period | 1/10/18 → 5/10/18 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.
Keywords
- motion planning
- automated driving
- lane change
- traffic lights
- MPC
- multi-lane driving
- search