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.
path planning behavioral planning time lag
Liang Ma Jing Yang Meng Zhang
Institute of Artificial Intelligence and Robotics, Xian Jiaotong University, Xian, Shaanxi, 710049, P.R. China
国际会议
三亚
英文
661-664
2012-01-06（万方平台首次上网日期，不代表论文的发表时间）