Manoeuvre-based trajectory planning for highly autonomous vehicles on real road with traffic

Benoit Vanholme (1) , Sébastien Glaser (1) , Said Mammar (2) , Dominique Gruyer (1)

1 LIVIC - Laboratoire sur les Interactions Véhicules-Infrastructure-Conducteurs
2 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

This paper presents the design and simulation results of a vehicle path planning algorithm that takes into account traffic and other obstacles on a highway. The proposed algorithm is designed to require little computation in order to achieve a real time evaluation in an embedded environment such as an ECU. Hence, the trajectory planning is proposed as a two-step algorithm. The first step defines at high level the feasible manoeuvres according to the environment. The output of this first step is a target group of manoeuvres such as accelerating, decelerating and changing lanes. The second step gives a lower level description of various trajectories within these given manoeuvres, computing all possibilities if the computation power is available. The output is a trajectory described in the vehicle frame that represents the recommended vehicle state (position, heading, speed and acceleration) for the next seconds.

Mots clés: maneuver planning; risk evaluation; trajectory planning; Vehicle control

Domaines: Automatique / Robotique

Benoit Vanholme, Sébastien Glaser, Said Mammar, Dominique Gruyer. Manoeuvre-based trajectory planning for highly autonomous vehicles on real road with traffic. 10th European Control Conference (ECC 2009), Aug 2009, Budapest, Hungary. pp.3281--3286. ⟨hal-01147932⟩