Spatially-partitioned environmental representation and planning architecture for on-road autonomous driving

@article{Zhan2017SpatiallypartitionedER,
  title={Spatially-partitioned environmental representation and planning architecture for on-road autonomous driving},
  author={Wei Zhan and Jianyu Chen and Ching-Yao Chan and Changliu Liu and Masayoshi Tomizuka},
  journal={2017 IEEE Intelligent Vehicles Symposium (IV)},
  year={2017},
  pages={632-639}
}
Conventional layered planning architecture temporally partitions the spatiotemporal motion planning by the path and speed, which is not suitable for lane change and overtaking scenarios with moving obstacles. In this paper, we propose to spatially partition the motion planning by longitudinal and lateral motions along the rough reference path in the Frenét Frame, which makes it possible to create linearized safety constraints for each layer in a variety of on-road driving scenarios. A generic… CONTINUE READING

Citations

Publications citing this paper.
SHOWING 1-10 OF 14 CITATIONS

References

Publications referenced by this paper.
SHOWING 1-10 OF 20 REFERENCES

A Review of Motion Planning Techniques for Automated Vehicles

  • D. Gonzlez, J. Prez, V. Milans, F. Nashashibi
  • IEEE Transactions on Intelligent Transportation…
  • 2016
1 Excerpt

A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles

  • B. Paden, M. p, S. Z. Yong, D. Yershov, E. Frazzoli
  • IEEE Transactions on Intelligent Vehicles, vol. 1…
  • 2016
1 Excerpt

Similar Papers

Loading similar papers…