Real-time Dynamic Trajectory Planning for Highly Automated Driving in Highways

Abstract : This paper presents the implementation of two methods for real-time trajectory planning in a dynamic environment applied to highly automated driving in a highway scenario. Both methods have been implemented for the HAVEit European project. The first method follows the Partial Motion Planning approach, and the second method uses 5th degree (quintic) polynomials to generate a detailed spatio-temporal description of a trajectory to be performed. Both implementations are integrated in a simulation environment and in an experimental research vehicle within HAVEit. Results and evaluations of the trajectory planning algorithms are presented.
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https://hal.inria.fr/inria-00533487
Contributor : Paulo Resende <>
Submitted on : Saturday, November 6, 2010 - 7:45:11 PM
Last modification on : Thursday, August 2, 2018 - 12:02:05 PM
Long-term archiving on : Monday, February 7, 2011 - 2:37:16 AM

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Paulo Resende, Fawzi Nashashibi. Real-time Dynamic Trajectory Planning for Highly Automated Driving in Highways. 13th International IEEE Conference on Intelligent Transportation Systems, Institute of Systems and Robotics - University of Coimbra, Portugal, Sep 2010, Funchal, Madeira, Portugal. ⟨inria-00533487⟩

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