Development of an Autonomous Vehicle for High-Speed Navigation and Obstacle Avoidance

Ryu, Jee-Hwan; Ogay, Dmitriy; Bulavintsev, Sergey; Kim, Hyuk; Park, Jang-Sik

doi:10.1007/978-3-642-33926-4_9

Advances in Intelligent Systems and Computing

2013

DOI: 10.1007/978-3-642-33926-4_9

|View full text |Cite

Development of an Autonomous Vehicle for High-Speed Navigation and Obstacle Avoidance

Jee-Hwan Ryu

Dmitriy Ogay

Sergey Bulavintsev

et al.

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...

Citation Types

Supporting

Mentioning

Contrasting

Year Published

2022

Publication Types

Select...

Article1

Relationship

Self Cite0

Independent1

Authors

Journals

Cited by 1 publication

(1 citation statement)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In addition, rapidly exploring random tree (RRT) based methods are widely applied in autonomous path planning. In [20], RRT is exploited to conduct the path planning for autonomous vehicles. However, discontinuous characteristics and calculation complexity raised by the method still need to be further investigated [21].…”

mentioning

confidence: 99%

Dynamic Lane-Changing Trajectory Planning for Autonomous Vehicles Based on Discrete Global Trajectory

Liu

Zhou

et al. 2022

IEEE Trans. Intell. Transport. Syst.

View full text Add to dashboard Cite

Automatic lane-changing is a complex and critical task for autonomous vehicle control. Existing researches on autonomous vehicle technology mainly focus on avoiding obstacles; however, few studies have accounted for dynamic lane changing based on some certain assumptions, such as the lane-changing speed is constant or the terminal state is known in advance. In this study, a typical lane-changing scenario is developed with the consideration of preceding and lagging vehicles on the road. Based on the local trajectory generated by the global positioning system, a path planning model and a speed planning model are respectively established through the cubic polynomial interpolation. To guarantee the driving safety, passenger comfort and vehicle efficiency, a comprehensive trajectory optimization function is proposed according to the path planning model and speed planning model. In addition, a dynamic decoupling model is established to solve the problems of real-time application to provide viable solutions. The simulations and real vehicle validations are conducted, and the results highlight that the proposed method can generate a satisfactory lane-changing trajectory for automatic lane-changing actions. Index Terms-Autonomous vehicle, dynamic lane-changing, trajectory planning, real-time optimization, discrete global trajectory NOMENCLATURE A. ACRONYMS ADAS advanced driving assistant systems PFP potential field projection method RRT rapidly exploring random tree TP preceding vehicle on the target lane TL lagging vehicle on the target lane P preceding vehicle on the initial lane E the ego vehicle GPS global positioning system NGSIM next generation simulation SLC the static lane-changing DOLC dynamic optimized lane-changing

show abstract

mentioning

confidence: 99%

Dynamic Lane-Changing Trajectory Planning for Autonomous Vehicles Based on Discrete Global Trajectory

Liu

Zhou

et al. 2022

IEEE Trans. Intell. Transport. Syst.

View full text Add to dashboard Cite

show abstract

scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.

Contact Info

customersupport@researchsolutions.com

10624 S. Eastern Ave., Ste. A-614

Henderson, NV 89052, USA

Blog Terms and Conditions API Terms Privacy Policy Contact Cookie Preferences Do Not Sell or Share My Personal Information

Made with 💙 for researchers

Part of the Research Solutions Family.

Development of an Autonomous Vehicle for High-Speed Navigation and Obstacle Avoidance

Cited by 1 publication

References 9 publications

Dynamic Lane-Changing Trajectory Planning for Autonomous Vehicles Based on Discrete Global Trajectory

Dynamic Lane-Changing Trajectory Planning for Autonomous Vehicles Based on Discrete Global Trajectory

Contact Info

Product

Resources

About