作者
Yu Zhang, Huiyan Chen, Steven L Waslander, Jianwei Gong, Guangming Xiong, Tian Yang, Kai Liu
发表日期
2018/6/8
期刊
IEEE Access
卷号
6
页码范围
32800-32819
出版商
IEEE
简介
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 …
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Y Zhang, H Chen, SL Waslander, J Gong, G Xiong… - IEEE Access, 2018