道路自动驾驶的两级路径规划方法

2012 Second International Conference on Intelligent System Design and Engineering Application Pub Date : 2012-01-06 DOI:10.1109/ISDEA.2012.607

Liang Ma, Jing Yang, Mengjie Zhang

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引用次数: 34

摘要

提出了一种道路自动驾驶实时路径规划方法。该方法利用道路行为规划和在线路径生成两级层次结构来实现自动驾驶汽车在具有大量结构化信息和平坦地形特征的动态道路环境中的可行路径。采用道路行为规划技术将不确定的路径规划问题转化为若干确定的子路径规划问题。然后，应用在线路径规划算法求解这些子问题。该方法包含三个主要部分:随时行为重规划、在线路径规划和异步多传感器智能体系统时滞缓解策略。在自行改装的自动驾驶汽车原型KUAFU-1上对该方法进行了验证。实验结果表明，该方法能够在各种道路交通场景下成功地提供实时可行路径。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A Two-level Path Planning Method for On-road Autonomous Driving

We present a real-time path planning method for on-road autonomous driving. This method utilizes a two-level hierarchy consisting of on-road behavior planning and online path generating to achieve feasible paths for autonomous vehicle in dynamic on-road environment which is characterized by lots of structured information and flat terrain. An on-road behavior planning technique is used to transform the uncertain path planning problem into several determined sub-ones. Then, the online path planning algorithm is applied to solve these sub-problems. This method contains three major components: anytime behavioral replanning, online path planning and mitigation strategy for time lag due to an agent system with asynchronous multi-sensor. We evaluate the proposed method on the KUAFU-1, an autonomous vehicle prototype modified by ourselves. Experimental results show that the proposed method can successfully provide real-time feasible paths in various on-road traffic sceneries.

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来源期刊

2012 Second International Conference on Intelligent System Design and Engineering Application

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