TY - GEN
T1 - Path Planning and Decision Making for Autonomous Vehicle in Urban Environment
AU - Fu, Mengyin
AU - Song, Wenjie
AU - Yi, Yang
AU - Wang, Meiling
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/10/30
Y1 - 2015/10/30
N2 - In this paper, we focus on the need for autonomous vehicles' path planning and decision making in the urban environment. In our modified method, traffic lanes, road edge and geographic information system(GIS) are integrated to generate three structured road models, which can be used to reduce car's lateral positioning error and guarantee car's driving stably without a precise pre-computed map for localization. Based on these models, car's position, attitude and speed are taken into account to find an optimal guided path and a suitable behavior strategy to keep our car obeying traffic rules. Thus, in the whole architecture, the instability of some modules' detection results and low positioning accuracy of GPS receiver is resolved. Applied to our autonomous vehicle-IN2BOT, which has taken part in 'Chinese Intelligent Vehicle Challenge' for many times, this method is proved more effective than our previous method after experiments under various conditions.
AB - In this paper, we focus on the need for autonomous vehicles' path planning and decision making in the urban environment. In our modified method, traffic lanes, road edge and geographic information system(GIS) are integrated to generate three structured road models, which can be used to reduce car's lateral positioning error and guarantee car's driving stably without a precise pre-computed map for localization. Based on these models, car's position, attitude and speed are taken into account to find an optimal guided path and a suitable behavior strategy to keep our car obeying traffic rules. Thus, in the whole architecture, the instability of some modules' detection results and low positioning accuracy of GPS receiver is resolved. Applied to our autonomous vehicle-IN2BOT, which has taken part in 'Chinese Intelligent Vehicle Challenge' for many times, this method is proved more effective than our previous method after experiments under various conditions.
UR - http://www.scopus.com/inward/record.url?scp=84950255860&partnerID=8YFLogxK
U2 - 10.1109/ITSC.2015.117
DO - 10.1109/ITSC.2015.117
M3 - Conference contribution
AN - SCOPUS:84950255860
T3 - IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
SP - 686
EP - 692
BT - Proceedings - 2015 IEEE 18th International Conference on Intelligent Transportation Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th IEEE International Conference on Intelligent Transportation Systems, ITSC 2015
Y2 - 15 September 2015 through 18 September 2015
ER -