Focused trajectory planning for autonomous on-road driving
On-road motion planning for autonomous vehicles is in general a challenging problem. Past
efforts have proposed solutions for urban and highway environments individually. We …
efforts have proposed solutions for urban and highway environments individually. We …
System and experiments of model-driven motion planning and control for autonomous vehicles
This article presents a model-based motion planning and control system for autonomous
vehicles and its experimental validation. The system consists of four modules: 1) global …
vehicles and its experimental validation. The system consists of four modules: 1) global …
Optimal trajectory planning for autonomous driving integrating logical constraints: An MIQP perspective
This paper considers the problem of optimal trajectory generation for autonomous driving
under both continuous and logical constraints. Classical approaches based on continuous …
under both continuous and logical constraints. Classical approaches based on continuous …
CommonRoad drivability checker: Simplifying the development and validation of motion planning algorithms
C Pek, V Rusinov, S Manzinger… - 2020 IEEE intelligent …, 2020 - ieeexplore.ieee.org
Collision avoidance, kinematic feasibility, and road-compliance must be validated to ensure
the drivability of planned motions for autonomous vehicles. Although these tasks are highly …
the drivability of planned motions for autonomous vehicles. Although these tasks are highly …
Worst-case analysis of the time-to-react using reachable sets
S Sontges, M Koschi, M Althoff - 2018 IEEE Intelligent Vehicles …, 2018 - ieeexplore.ieee.org
Collision mitigation and collision avoidance systems in intelligent vehicles reduce the
severity and number of accidents. To determine the optimal point in time at which such …
severity and number of accidents. To determine the optimal point in time at which such …
Trajectory planning for an autonomous vehicle in spatially constrained environments
Road shoulders and slopes often appear in unstructured environments. They make 2.5 D
vehicle trajectory planning commonly seen in our daily life, which lies on a 2D manifold …
vehicle trajectory planning commonly seen in our daily life, which lies on a 2D manifold …
Enable faster and smoother spatio-temporal trajectory planning for autonomous vehicles in constrained dynamic environment
Trajectory planning is of vital importance to decision-making for autonomous vehicles.
Currently, there are three popular classes of cost-based trajectory planning methods …
Currently, there are three popular classes of cost-based trajectory planning methods …
Autonovi: Autonomous vehicle planning with dynamic maneuvers and traffic constraints
We present AutonoVi, a novel algorithm for autonomous vehicle navigation that supports
dynamic maneuvers and integrates traffic constraints and norms. Our approach is based on …
dynamic maneuvers and integrates traffic constraints and norms. Our approach is based on …
Computing the drivable area of autonomous road vehicles in dynamic road scenes
S Söntges, M Althoff - IEEE Transactions on Intelligent …, 2017 - ieeexplore.ieee.org
This paper presents an algorithm for overapproximating the drivable area of road vehicles in
the presence of time-varying obstacles. The drivable area can be used to detect whether a …
the presence of time-varying obstacles. The drivable area can be used to detect whether a …
Safe trajectory generation for complex urban environments using spatio-temporal semantic corridor
Planning safe trajectories for autonomous vehicles in complex urban environments is
challenging since there are numerous semantic elements (such as dynamic agents, traffic …
challenging since there are numerous semantic elements (such as dynamic agents, traffic …