A Two-level Path Planning Method for On-road Autonomous Driving

Using evidential occupancy grid for vehicle trajectory planning under uncertainty with tentacles

“…clothoids or splines) with several lateral shifts of this curve [11], [9]. Each generated curve is then evaluated with regard to certain criteria.…”

Reference‐free approach for mitigating human–machine conflicts in shared control of automated vehicles

“…Based on the different control logic, the shared control algorithms can be divided into two categories: the path‐based approach and the reference‐free one. In the path‐based approach, the path planning methods, including model predictive control (MPC) [30], rapidly exploring random trees [31] and geometric method [32], are utilised to identify an optimal path among all available and feasible trajectory options. The automation continuously supports the driver to follow the optimal path, keeping the driver in the control loop [33–35].…”

Analysing driving efficiency of mandatory lane change decision for autonomous vehicles

“…Naranjo et al [15] have used a fuzzy control framework to analyse AV's overtaking (passing) manoeuvres. Compared with safe trajectory planning at the operational level, route planning at the strategic level is much more important for improving the overall efficiency for the future transportation system mixed with HDVs and AVs [16]. Additionally, the route planning for AVs requires analysis at the level of individual lanes (as opposed to traditional link-level analysis).…”