Towards Safe Vehicle Navigation in Dynamic Urban Scenarios

Kristijan Macek 1 Dizan Alejandro Vasquez Govea 1 Thierry Fraichard 2 Roland Siegwart 1
1 ASL - Autonomous Systems Lab
2 E-MOTION - Geometry and Probability for Motion and Action
Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d'Informatique de Grenoble
Abstract : This paper describes the deliberative part of a navigation architecture designed for safe vehicle navigation in dynamic urban environments. It comprises two key modules working together in a hierarchical fashion: (a) the Route Planner whose purpose is to compute a valid itinerary towards the a given goal. An itinerary comprises a geometric path augmented with additional information based on the structure of the environment considered and traffic regulations, and (b) the Partial Motion Planner whose purpose is to ensure the proper following of the itinerary while dealing with the moving objects present in the environment (eg other vehicles, pedestrians). In the architecture proposed, a special attention is paid to the motion safety issue, ie the ability to avoid collisions. Different safety levels are explored and their operational conditions are explicitly spelled out (something which is usually not done).
Document type :
Journal articles
Complete list of metadatas

Cited literature [18 references]  Display  Hide  Download
https://hal.inria.fr/inria-00447452
Contributor : Thierry Fraichard <>
Submitted on : Friday, January 15, 2010 - 9:16:56 AM
Last modification on : Tuesday, August 20, 2019 - 1:10:15 AM
Long-term archiving on : Thursday, June 17, 2010 - 10:48:53 PM

File

09-automatika-macek-etal.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : inria-00447452, version 1

Collections

INRIA | LIG | UGA | LIG_SIC_E-MOTION

Citation

Kristijan Macek, Dizan Alejandro Vasquez Govea, Thierry Fraichard, Roland Siegwart. Towards Safe Vehicle Navigation in Dynamic Urban Scenarios. Automatika ‒ Journal for Control, Measurement, Electronics, Computing and Communications, KOREMA Hrvatsko društvo za komunikacije računarstvo elektroniku mjerenja i automatiku, 2009. ⟨inria-00447452⟩

Export

BibTeX TEI DC DCterms EndNote

Share

Metrics

Record views

723

Files downloads

491

Contact


archive-ouverte@inria.fr