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.


  • 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

Filing Info

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