This paper presents a real-time motion planning scheme for urban autonomous driving that will be deployed as a basis for cooperative maneuvers defined in the European project AutoNet2030. We use a path-velocity decomposition approach to separate the motion planning problem into a path planning problem and a velocity planning problem. The path planner first generates a collision-free piecewise linear path and then uses quintic Bézier curves to smooth the path with C2 continuity. A derive-free optimization technique Subplex is used to further smooth the curvature of the path in a best-effort basis. The velocity planner generates an optimal velocity profile along the reference path using Model Predictive Control (MPC), taking into account user preferences and cooperative maneuver requirements. Simulation results are presented to validate the approach, with special focus on the flexibility, cooperative-awareness and efficiency of the algorithms.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Motion planning for urban autonomous driving using Bézier curves and MPC


    Beteiligte:


    Erscheinungsdatum :

    01.11.2016


    Format / Umfang :

    694536 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    TRAJECTORY PLANNER FOR AUTONOMOUS DRIVING USING BÉZIER CURVES

    JAFARI TAFTI SAYYED ROUHOLLAH / MEHDI SYED B / PALANISAMY PRAVEEN | Europäisches Patentamt | 2018

    Freier Zugriff

    Trajectory planner for autonomous driving using bézier curves

    JAFARI TAFTI SAYYED ROUHOLLAH / MEHDI SYED B / PALANISAMY PRAVEEN | Europäisches Patentamt | 2019

    Freier Zugriff

    Minimum jerk motion planning for maritime autonomous surface ships based on Bézier curves

    Yang, Fan / Liu, Jialun / Li, Shijie et al. | Taylor & Francis Verlag | 2025


    Urban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safety

    Ray Lattarulo / Leonardo González / Enrique Martí et al. | DOAJ | 2018

    Freier Zugriff

    Path planning for marine vehicles using Bezier curves

    Hassani, Vahid / Lande, Simen V. | BASE | 2018

    Freier Zugriff