Hybrid path planning for non-holonomic autonomous vehicles: An experimental evaluation

Path planning of an autonomous vehicle as a non-holonomic system is an essential part for many automated driving applications. Parking a car into a parking lot and maneuvering it through a narrow corridor would be a common driving scenario in an urban environment. In this study a hybrid approach for dynamic path planning is presented which deals with the limited degrees of freedom of a non-holonomic system, as well as the real-time constraints and limited computational power. Furthermore, it takes into account ride comfort of the passenger by generating a smooth path. The proposed method has been evaluated in a simulation environment and is implemented and tested on a Toyota Prius test vehicle with an active steering system.

• Record URL:
  http://dx.doi.org/10.1109/MTITS.2017.8005682
• Supplemental Notes:
  • Copyright © 2017, IEEE.
• Corporate Authors:

  Institute of Electrical and Electronics Engineers (IEEE)

  3 Park Avenue, 17th Floor
  New York, NY  United States  10016-5997
• Authors:
  • Esposto, Francesco
  • Goos, Jorrit
  • Teerhuis, Arjan
  • Alirezaei, Mohsen
• Conference:
  • 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS 2017)
  • Location: Naples , Italy
  • Date: 2017-6-26 to 2017-6-28
• Publication Date: 2017

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 25-30
• Monograph Title: 2017 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS 2017)

Subject/Index Terms

• TRT Terms: Autonomous vehicles; Driver support systems; Field tests; Passenger comfort; Planning; Simulation; Vehicle trajectories
• Identifier Terms: Toyota Prius
• Subject Areas: Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01753824
• Record Type: Publication
• Files: TRIS
• Created Date: Sep 29 2020 11:41AM