An offline path planning method for autonomous vehicles

• Autorzy: Barsi Á. , Nyerges Á. , Potó V. , Tihanyi V.

Identyfikatory

DOI

10.30657/pea.2018.19.08

• Języki publikacji: EN

Abstrakty

EN

Driving a road vehicle is a very complex task in terms of controlling it, substituting a human driver with a computer is a real challenge also from the technical side. An important step in vehicle controlling is when the vehicle plans its own trajectory. The input of the trajectory planning are the purpose of the passengers and the environment of the vehicle. The trajectory planning process has several parts, for instance, the geometry of the path-curve or the speed during the way. Furthermore, a traffic situation can also determine many other parameters in the planning process. This paper presents a basic approach for trajectory design. To reach the aim a map will be given as a binary 2204 x 1294 size matrix where the roads will be defined by ones, the obstacles will be defined by zeros. The aim is to make an algorithm which can find the shortest and a suitable way for vehicles between the start and the target point. The vehicle speed will be slow enough to ignore the dynamical properties of the vehicle. The research is one of the first steps to realize automated parking features in a self-drive car.

Słowa kluczowe

EN

connected and automated vehicles; autonomous driving; self-driving vehicles; trajectory planning; path planning

PL

sterowanie pojazdem; zautomatyzowany pojazd; pojazdy samojezdne; planowanie trajektorii; planowanie ścieżki; planowanie trasy; pojazd autonomiczny

• Wydawca: Oficyna Wydawnicza Stowarzyszenia Menedżerów Jakości i Produkcji
• Czasopismo: Production Engineering Archives
• Rocznik: 2018
• Tom: Vol. 19
• Strony: 37--42
• Opis fizyczny: Bibliogr. 13 poz. rys.

Twórcy

autor

Barsi Á.

• Budapest University of Technology and Economics, Department of Photogrammetry and Geoinformatics, Stoczek u 6, H-1111 Budapest, Hungary

autor

Nyerges Á.

• Budapest University of Technology and Economics, Department of Automotive Technologies, Stoczek u 6, H-1111 Budapest, Hungary

autor

Potó V.

• Budapest University of Technology and Economics, Department of Photogrammetry and Geoinformatics, Stoczek u 6, H-1111 Budapest, Hungary

autor

Tihanyi V.

• Budapest University of Technology and Economics, Department of Automotive Technologies, Stoczek u 6, H-1111 Budapest, Hungary

Bibliografia

• 1. Chebly, A., Tagne, G., Talj, R., Charara, A. ,2015. Local Trajectory Planning and Tracking For Autonomous Vehicle Navigation Using Clothoid Tentacles Method, HAL Id: hal-01139316.
• 2. Dijkstra, E. W., 1959. A note on two problems in connexion with graps, Numerische Mathematik 1, 269-271.
• 3. Dolgov, D., Thrun, S., Montemerlo, M., Diebel, J., 2010. Path Planning for Autonomous Vehicles in Unknown Semi-structured Environments, The International Journal of Robotics Research, Vol. 29, No. 5, 485-501.
• 4. Gáspár, P., Szalay, Zs., Aradi, Sz., 2014. Highly Automated Vehicle Systems, BME MOGI Retrieved May 10, 2018 from http://www.mogi.bme.hu/TAMOP/jarmurendszerek_iranyitasa_angol/index.html
• 5. Gu, T., Snider J., Dolan, J.M., Lee, J., 2013. Focused Trajectory Planning for Autonomous On-Road Driving. IEEE Intelligent Vehicles Symposium (IV) June 23-26, Gold Coast, Australia.
• 6. Hult, R., Tabar, R. S., 2013, Path Planning for Highly Automated Vehicles Master's Thesis in Systems, Control and Mechatronics, Gothenburg, Sweden.
• 7. ISO 2011 “International standard road vehicles - functional safety”, International Organization for Standardization, Geneva, Switzerland, ISO26262.
• 8. Mathworks, 2015. Graph and Network Algorithms Toolbox: User's Guide, (R2015b) Retrieved May 10, 2018 from www.mathworks.com/help/pdf_doc/
• 9. Nyerges Á., Szalay Zs., 2017. A new approach for the testing and validation of connected and automated vehicles, 34th International Colloquium on Advanced Manufacturing and Repairing technologies in Vehicle Industry, 17-19 May, Visegrád, Hungary.
• 10. Sae International, 2014. Taxonomy and Definitions for Terms Related to On- Road Motor Vehicle Automated Driving Systems, SAE standard, nr. J3016__201401, Retrieved May 10, 2018 from http://standards. sae.org/j3016_20140
• 11. Szalay Zs., 2016. Structure and Architecture Problems of Autonomous Road Vehicle Testing and Validation. 15th Mini Conference on Vehicle System Dynamics, Identification and Anomalies – VSDIA, 11th November, Budapest, Hungary.
• 12. SZalay Zs., Nyerges Á., Hamar Z., Hesz M., 2017. Technical Specification Methodology for an Automotive Proving Ground Dedicated to Connected and Automated Vehicles, Periodica Polytechnica, Transportation Engineering, Hungary, 45(3), 168-174.
• 13. Tettamanti T., Varga I., Szalay Zs., 2016. Impacts of Autonomous Cars from a Traffic Engineering Perspective, Periodica Polytechnica, Transportation Engineering, Hungary, 44(4), 244-250.

Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).