TY - GEN
T1 - A path planning algorithm based on fusing lane and obstacle map
AU - Zhu, Hao
AU - Fu, Mengyin
AU - Yang, Yi
AU - Wang, Xinyu
AU - Wang, Meiling
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/11/14
Y1 - 2014/11/14
N2 - This paper proposes a path planning algorithm for autonomous driving in urban environments. The processing of video and Velodyne pointcloud provides information about the positions of lane markers and obstacles in the local map, which are then converted to a lane costmap and obstacle costmap. The referenced GIS follow line is used for generating a series of offset curves, and the best follow line is selected according to a combination of lane, obstacle and background cost. Additional handling of planning path and maximum speed is provided. Our planning algorithm can handle various road types such as U-turn, intersections, and different driving behaviors including passing over or following front vehicles, etc. The proposed navigation framework is implemented on an autonomous vehicle, which exhibits good performance on Future Challenge 2013, Changshu, China.
AB - This paper proposes a path planning algorithm for autonomous driving in urban environments. The processing of video and Velodyne pointcloud provides information about the positions of lane markers and obstacles in the local map, which are then converted to a lane costmap and obstacle costmap. The referenced GIS follow line is used for generating a series of offset curves, and the best follow line is selected according to a combination of lane, obstacle and background cost. Additional handling of planning path and maximum speed is provided. Our planning algorithm can handle various road types such as U-turn, intersections, and different driving behaviors including passing over or following front vehicles, etc. The proposed navigation framework is implemented on an autonomous vehicle, which exhibits good performance on Future Challenge 2013, Changshu, China.
UR - http://www.scopus.com/inward/record.url?scp=84937112034&partnerID=8YFLogxK
U2 - 10.1109/ITSC.2014.6957889
DO - 10.1109/ITSC.2014.6957889
M3 - Conference contribution
AN - SCOPUS:84937112034
T3 - 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
SP - 1442
EP - 1448
BT - 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
Y2 - 8 October 2014 through 11 October 2014
ER -