A viable autonomous passenger vehicle must be able to plot a precise and safe trajectory through busy traffic while observing the rules of the road and minimizing risk due to unexpected events such as sudden braking or swerving by another vehicle, or the incursion of a pedestrian or animal onto the road. The planner must be able to produce a plan within a small fixed time window. This project is working on a unified motion planning approach applicable to autonomous driving for highway and urban environments. Initial work adapted the state lattice framework pioneered for planetary rover navigation to the structured environment of public roadways. The main contribution of this work was a search space representation that allows the search algorithm to systematically and efficiently explore both spatial and temporal dimensions in real time. This allows the low-level trajectory planner to assume greater responsibility in planning to follow a leading vehicle, perform lane changes, and merge between other vehicles.
Our current work is on reducing computation through focused sampling and minimal replanning; and generation of smooth trajectories across the range of highway, urban, and evasive maneuver scenarios.
Tianyu Gu and John M. Dolan
Conference Paper, Proceedings of the 4th International Conference on Intelligent Systems and Applications (INTELLI 2015), pp. 94-97, October, 2015
Tianyu Gu, Jason Atwood, Chiyu Dong, John M. Dolan and Jin-Woo Lee
Conference Paper, Proceedings of the 2015 IEEE International Conference on Intelligent Robots and Systems (IROS), pp. 250-256, September, 2015
PhD Thesis, Tech. Report, CMU-RI-TR-11-30, Robotics Institute, Carnegie Mellon University, July, 2011
Matthew McNaughton and Christopher Urmson
Conference Paper, Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, pp. 4893 -4898, March, 2011