English   español  
Please use this identifier to cite or link to this item: http://hdl.handle.net/10261/218710
logo share SHARE   Add this article to your Mendeley library MendeleyBASE
Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL | DATACITE
Exportar a otros formatos:


Reachability Estimation in Dynamic Driving Scenes for Autonomous Vehicles

AuthorsMedina-Lee, Juan Felipe; Artuñedo, Antonio ; Godoy, Jorge ; Villagra, Jorge
KeywordsAutonomous vehicles
Reachability estimation
Dynamic driving scenes
Rule-based algorithms
Issue Date2020
PublisherInstitute of Electrical and Electronics Engineers
Citation2020 IEEE Intelligent Vehicles Symposium
AbstractAutonomous vehicles will find an infinite number of possible scenarios while driving in urban environments and need to react in a proper manner. For that reason, it is important to have algorithms that can propose driving alternatives for different type of scenarios in a global and unified way instead of using rule-based algorithms which depend on the driving scene. This paper presents a reachability estimation algorithm designed to obtain a safe and comfort-optimized trajectory set for different driving scenarios. First, a finite number of path candidates are created using Bezier curves. Then, all valid path ´ candidates are combined with the reachable sets of dynamic obstacles to generate speed profiles consistent with safety and comfort requirements. The output of this algorithm would allow a decision-making strategy to select the optimum candidate depending on different criteria.
Appears in Collections:(CAR) Artículos
Files in This Item:
File Description SizeFormat 
Reachability_estimation_in_dynamic_driving.pdfArtículo principal2,08 MBAdobe PDFThumbnail
Show full item record
Review this work

WARNING: Items in Digital.CSIC are protected by copyright, with all rights reserved, unless otherwise indicated.