/Automated Tactical Maneuver Discovery, Reasoning and Trajectory Planning for Autonomous Driving

Automated Tactical Maneuver Discovery, Reasoning and Trajectory Planning for Autonomous Driving

Tianyu Gu, John M. Dolan and Jin-Woo Lee
Conference Paper, IEEE International Conference on Intelligent Robots and Systems, pp. 5474-5480, October, 2016

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Abstract

In a hierarchical motion planning system for urban autonomous driving, it is a common practice to separate tactical reasoning from the lower-level trajectory planning. This separation makes it difficult to achieve robust maneuver-based tactical reasoning, which is intrinsically linked to trajectory planning. We therefore propose a planning method that automatically discovers tactical maneuver patterns, and fuses pattern reasoning and sampling-based trajectory planning. The results demonstrate enhanced planning feasibility, coherency and scalability.

BibTeX Reference
@conference{Gu-2016-26523,
author = {Tianyu Gu and John M. Dolan and Jin-Woo Lee},
title = {Automated Tactical Maneuver Discovery, Reasoning and Trajectory Planning for Autonomous Driving},
booktitle = {IEEE International Conference on Intelligent Robots and Systems},
year = {2016},
month = {October},
pages = {5474-5480},
keywords = {autonomous driving, motion planning, trajectory planning},
}
2017-09-13T10:38:12+00:00