Name
Title | ||
|---|---|---|
Hybrid Trajectory Planning for Autonomous Driving in Highly Constrained Environments. |
Abstract | ||
|---|---|---|
In this paper, we introduce a novel and efficient hybrid trajectory planning method for autonomous driving in highly constrained environments. The contributions of this paper are fourfold. First, we present a trajectory planning framework that is able to handle geometry constraints, nonholonomic constraints, and dynamics constraints of cars in a humanlike and layered fashion and generate curvature-continuous, kinodynamically feasible, smooth, and collision-free trajectories in real time. Second, we present a derivative-free global path modification algorithm to extract high-order state information in free space for state sampling. Third, we extend the regular state-space sampling method widely used in on-road autonomous driving systems to a multi-phase deterministic state-space sampling method that is able to approximate complex maneuvers. Fourth, we improve collision checking accuracy and efficiency by using a different car footprint approximation strategy and a two-phase collision checking routine. A range of challenging simulation experiments show that the proposed method returns high-quality trajectories in real time and outperforms existing planners, such as hybrid A* and conjugate-gradient descent path smoother in terms of path quality, efficiency, and computation resources used. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/ACCESS.2018.2845448 | IEEE ACCESS |
Keywords | Field | DocType |
Trajectory planning,motion planning,autonomous driving,obstacle avoidance,kinodynamic constraints,collision checking | Mathematical optimization,State information,Computer science,Free space,Footprint,Sampling (statistics),Nonholonomic system,Trajectory,Computation,Trajectory planning,Distributed computing | Journal |
Volume | ISSN | Citations |
6 | 2169-3536 | 0 |
PageRank | References | Authors |
0.34 | 0 | 7 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yu Zhang | 1 | 294 | 98.00 |
| Huiyan Chen | 2 | 43 | 8.38 |
| Steven Lake Waslander | 3 | 443 | 46.89 |
| Jianwei Gong | 4 | 87 | 21.00 |
| Guangming Xiong | 5 | 89 | 12.27 |
| Tian Yang | 6 | 16 | 5.61 |
| Kai Liu | 7 | 2 | 1.05 |