Motion planning method for overtaking bicycles in urban driving scenario based on potential field framework

Autonomous driving in urban environment is more complicated due to the unpredictable movements of obstacles such as pedestrians and bicycles. This paper focuses on a motion planning of a vehicle for overtaking a bicycle in a straight road. The motion of the vehicle is determined based on an artificial potential field model considering the movement of the bicycle. By sequentially determining the location of the bicycle then applying the potential field model of a static obstacle, our method simulates the safe path for overtaking the bicycle. Furthermore, the more complex condition such as the oncoming vehicle is presence at the opposite lane is also considered for the overtaking path planning algorithm. Finally, the vehicle motion is compared with the actual driving data of expert drivers to verify the effectiveness of the proposed method.

Language

  • English

Media Info

  • Pagination: pp 563-570
  • Monograph Title: FAST-zero'15: 3rd international symposium on future active safety technology toward zero traffic accidents: September 9-11, 2015 Gothenburg, Sweden: proceedings

Subject/Index Terms

Filing Info

  • Accession Number: 01602338
  • Record Type: Publication
  • Source Agency: Swedish National Road and Transport Research Institute (VTI)
  • Files: ITRD, VTI
  • Created Date: Jun 20 2016 1:30PM