On Path Planning Methods for Automotive Collision Avoidance
2013 (English)In: 2013 IEEE Intelligent Vehicles Symposium: IV 2013: Gold Coast City, Australia, 23-26 June 2013, Piscataway: IEEE conference proceedings, 2013, 931-937 p.Conference paper (Refereed)
There is a strong trend for increasingly sophisticated Advanced Driver Assistance Systems (ADAS) such as Autonomous Emergency Braking (AEB) systems, Lane Keeping Aid (LKA) systems, or indeed autonomous driving. This trend generates a need for online maneuver generation, for which numerous approaches can be found in the large body of work related to path planning and obstacle avoidance. In order to ease the challenge of choosing a method, this paper reports quantitative and qualitative insights about three different path planning methods: a state lattice planner, model predictive control, and spline-based search tree. Each method is described, implemented and compared on two specific traffic situations. In addition, qualitative merits and drawbacks are discussed for each method. The paper will not provide a final answer about which method is best. This depends on several factors such as computational constraints and the formulation of maneuver optimality that is appropriate for a given assistance or safety function. Instead, the conclusions will provide guidance for choosing a method for a specific application.
Place, publisher, year, edition, pages
Piscataway: IEEE conference proceedings, 2013. 931-937 p.
Collision Avoidance, Driver Assistance Systems, Vehicle Control
Computer Vision and Robotics (Autonomous Systems)
IdentifiersURN: urn:nbn:se:hh:diva-23384ScopusID: 2-s2.0-84892395414ISBN: 978-1-4673-2754-1OAI: oai:DiVA.org:hh-23384DiVA: diva2:642063
IEEE Intelligent Vehicles Symposium, IEEE IV 2013, June 23-26, 2013, Gold Coast, Australia