Path Planning and Decision Making for Autonomous Vehicle in Urban Environment

In this paper, the authors focus on the need for autonomous vehicles' path planning and decision making in the urban environment. In the authors' modified method, traffic lanes, road edge and geographic information system(GIS) are integrated to generate three structured road models, which can be used to reduce car's lateral positioning error and guarantee car's driving stably without a precise pre-computed map for localization. Based on these models, car's position, attitude and speed are taken into account to find an optimal guided path and a suitable behavior strategy to keep the authors' car obeying traffic rules. Thus, in the whole architecture, the instability of some modules' detection results and low positioning accuracy of GPS receiver is resolved. Applied to the authors' autonomous vehicle - IN(superscript2)BOT, which has taken part in "Chinese Intelligent Vehicle Challenge" for many times, this method is proved more effective than the authors' previous method after experiments under various conditions.

• Record URL:
  https://doi.org/10.1109/ITSC.2015.117
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/isbn/9781467365956
• Supplemental Notes:
  • Abstract reprinted with permission of IEEE.
• Corporate Authors:

  Institute of Electrical and Electronics Engineers (IEEE)

  3 Park Avenue, 17th Floor
  New York, NY  United States  10016-5997
• Authors:
  • Fu, Mengyin
  • Song, Wenjie
  • Yi, Yang
  • Wang, Meiling
• Conference:
  • 18th International IEEE Conference on Intelligent Transportation Systems (ITSC)
  • Location: Canary Islands , Spain
  • Date: 2015-9-15 to 2015-9-18
• Publication Date: 2015

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 686-692
• Monograph Title: 18th International IEEE Conference on Intelligent Transportation Systems (ITSC 2015)

Subject/Index Terms

• TRT Terms: Accuracy; Decision making; Geographic information systems; Global Positioning System; Intelligent vehicles; Trajectory control
• Subject Areas: Data and Information Technology; Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01602789
• Record Type: Publication
• ISBN: 9781467365956
• Files: TRIS
• Created Date: Jun 28 2016 4:16PM