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Título: | Merit-Based Motion Planning for Autonomous Vehicles in Urban Scenarios |
Autor: | Medina-Lee, Juan Felipe ; Artuñedo, Antonio CSIC ORCID ; Godoy, Jorge CSIC ORCID; Villagrá, Jorge CSIC ORCID | Palabras clave: | autonomous driving motion planning trajectory generation speed profile merit function |
Fecha de publicación: | 28-may-2021 | Editor: | Multidisciplinary Digital Publishing Institute | Citación: | Sensors: 21(11), 3755 | Resumen: | Safe and adaptable motion planning for autonomous vehicles remains an open problem in urban environments, where the variability of situations and behaviors may become intractable using rule-based approaches. This work proposes a use-case-independent motion planning algorithm that generates a set of possible trajectories and selects the best of them according to a merit function that combines longitudinal comfort, lateral comfort, safety and utility criteria. The system was tested in urban scenarios on simulated and real environments, and the results show that different driving styles can be achieved according to the priorities set in the merit function, always meeting safety and comfort parameters imposed by design. | Versión del editor: | https://doi.org/10.3390/s21113755 | URI: | http://hdl.handle.net/10261/345265 |
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Merit-Based Motion Planning.pdf | Artículo principal | 21,12 MB | Adobe PDF | Visualizar/Abrir |
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