Scipediacontent: Scipediacontent moved page Draft Content 638579474 to Qian et al 2016a

2021-01-28T18:56:38Z

Scipediacontent moved page Draft Content 638579474 to Qian et al 2016a

Scipediacontent: Created page with " == Abstract == International audience; — This paper presents a real-time motion planning scheme for urban autonomous driving that will be deployed as a basis for cooperati..."

2021-01-28T18:56:34Z

Created page with " == Abstract == International audience; — This paper presents a real-time motion planning scheme for urban autonomous driving that will be deployed as a basis for cooperati..."

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== Abstract ==

International audience; — This paper presents a real-time motion planning scheme for urban autonomous driving that will be deployed as a basis for cooperative maneuvers defined in the European project AutoNet2030. We use a path-velocity decomposition approach to separate the motion planning problem into a path planning problem and a velocity planning problem. The path planner first generates a collision-free piecewise linear path and then uses quintic Bézier curves to smooth the path with C 2 continuity. A derive-free optimization technique Subplex is used to further smooth the curvature of the path in a best-effort basis. The velocity planner generates an optimal velocity profile along the reference path using Model Predictive Control (MPC), taking into account user preferences and cooperative maneuver requirements. Simulation results are presented to validate the approach, with special focus on the flexibility, cooperative-awareness and efficiency of the algorithms.

== Original document ==

The different versions of the original document can be found in:

* [http://infoscience.epfl.ch/record/225689 http://infoscience.epfl.ch/record/225689]

* [https://hal.archives-ouvertes.fr/hal-01425647/file/urbanMotionPlanningMPC_MinesParisTech_ITSC2016.pdf https://hal.archives-ouvertes.fr/hal-01425647/file/urbanMotionPlanningMPC_MinesParisTech_ITSC2016.pdf]

* [http://xplorestaging.ieee.org/ielx7/7784515/7795515/07795651.pdf?arnumber=7795651 http://xplorestaging.ieee.org/ielx7/7784515/7795515/07795651.pdf?arnumber=7795651],
: [http://dx.doi.org/10.1109/itsc.2016.7795651 http://dx.doi.org/10.1109/itsc.2016.7795651]

* [https://dblp.uni-trier.de/db/conf/itsc/itsc2016.html#QianNFM16 https://dblp.uni-trier.de/db/conf/itsc/itsc2016.html#QianNFM16],
: [https://hal.archives-ouvertes.fr/hal-01425647/document https://hal.archives-ouvertes.fr/hal-01425647/document],
: [https://ieeexplore.ieee.org/document/7795651 https://ieeexplore.ieee.org/document/7795651],
: [https://infoscience.epfl.ch/record/225689 https://infoscience.epfl.ch/record/225689],
: [https://hal.archives-ouvertes.fr/hal-01425647 https://hal.archives-ouvertes.fr/hal-01425647],
: [https://academic.microsoft.com/#/detail/2564091245 https://academic.microsoft.com/#/detail/2564091245]

* [https://hal.archives-ouvertes.fr/hal-01425647 https://hal.archives-ouvertes.fr/hal-01425647],
: [https://hal.archives-ouvertes.fr/hal-01425647/document https://hal.archives-ouvertes.fr/hal-01425647/document],
: [https://hal.archives-ouvertes.fr/hal-01425647/file/urbanMotionPlanningMPC_MinesParisTech_ITSC2016.pdf https://hal.archives-ouvertes.fr/hal-01425647/file/urbanMotionPlanningMPC_MinesParisTech_ITSC2016.pdf]

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Qian et al 2016a - Revision history

Scipediacontent: Scipediacontent moved page Draft Content 638579474 to Qian et al 2016a

Scipediacontent: Created page with " == Abstract == International audience; — This paper presents a real-time motion planning scheme for urban autonomous driving that will be deployed as a basis for cooperati..."