A Two-Stage Real-Time Path Planning: Application to the Overtaking Manuever

IEEE Access

Leonardo Gonzalez¹  Joshue Perez Rastelli¹  Fernando Garrido²  Fawzi Nashashibi³  Vicente Milanes⁴ 

[1] Automotive Area/Industry and Transport Division, Tecnalia Research and Innovation, Derio, Spain;Driving Assistance Research (DAR) Team, Valeo, Bobigny, France;RITS Team, INRIA, Paris, France;Renault SAS, Guyancourt, France;

关键词: Automated driving;    path planning;    overtaking;    intelligent transportation systems;   

DOI  :  10.1109/ACCESS.2020.3008374

来源: DOAJ

【 摘 要 】

This paper proposes a two-stage local path planning approach to deal with all kinds of scenarios (i.e. intersections, turns, roundabouts). The first stage carries out an off-line optimization, considering vehicle kinematics and road constraints. The second stage includes all dynamic obstacles in the scene, generating a continuous path in real-time. Human-like driving style is provided by evaluating the sharpness of the road bends and the available space among them, optimizing the drivable area. The proposed approach is validated on overtaking scenarios where real-time path planning generation plays a key role. Simulation and real results on an experimental automated platform provide encouraging results, generating real-time collision-free paths while maintaining the defined smoothness criteria.

【 授权许可】

Unknown