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To address the local path planning problem for autonomous land vehicle in unstructured environments, a novel method combining navigation function and A* search is proposed. The computed navigation function in this paper embodies different constraints of vehicle, so in fact to be a near-feasible trajectory. Next the navigation function and sensed obstacles is used to construct the heuristic function,...
With the development of the intelligent transportation systems (ITS), and the widely used technologies of road testing, machine vision etc. in the field of intelligent vehicle, it is possible for the smart car to move automatically in well-structured environments. As for urban complex environments, the researches on unmanned intelligent vehicle are still at the initial stage. For the more complex...
With the announcement of the “Stadtpilot”- Project the Technische Universität Braunschweig has accepted the challenge of guiding a vehicle fully autonomously in the complex environment of Braunschweig's entire ring road. Autonomous driving on this two-lane urban road includes interaction with traffic, behavior at intersections, lane change maneuvers at speeds up to 60 km/h as well as merging into...
In this paper, a motion planning algorithm based on differential flatness for an autonomous vehicle driving in a structured environment with moving obstacles is presented. A descriptions of the structured environment and definitions of safety and availability of the lane are proposed. In order to ensure that the trajectory is feasible and effective, dynamic longitudinal and lateral acceleration constraints...
This paper presents a novel and computationally inexpensive method for motion planning of autonomous parallel parking of four wheeled nonholonomic vehicles. The proposed method makes use of Trajectory Shaping Guidance, given in [1] and [2], which was originally developed for missiles to hit the target at a given angle. This paper uses a modified version of Trajectory Shaping Guidance (TSG) for path...
Safe handling of dynamic highway and inner city scenarios with autonomous vehicles involves the problem of generating traffic-adapted trajectories. In order to account for the practical requirements of the holistic autonomous system, we propose a semi-reactive trajectory generation method, which can be tightly integrated into the behavioral layer. The method realizes long-term objectives such as velocity...
With the development of integration of urban and rural public transit, urban bus transportation is playing an increasing role in urban economy. To plan the public transit network at the preliminary stage is of great significance to stimulate urban regional economy and improve the urbanization level. In this article, how to use TransCAD to collect and establish urban public transit network data is...
We address the minimal risk motion planning problem in a two dimensional environment in the presence of both moving and static obstacles. Our approach is inspired by recent results due to Vladimirsky in which path planning on time-varying maps is addressed using a new level-set approach, and for which computational costs are remarkably low. Toward practical implementation of these results for path...
In this paper we describe a novel and simple to implement yet effective lattice design algorithm, which simultaneously produces input and state-space sampled lattice graphs. The presented method is an extension to the ideas suggested by Bicchi et al. on input lattices and is applicable to systems which can be brought into (2,n) chained form, such as kinematic models of unicycles, bicycles, differential-drive...
There are a lot of cases with vehicle parking methods. But, when we try to analyze the successful parking patterns, we will be known that all processing is accomplished within specific parking pattern. We collect and analyze various parking patterns, so suggest the parking planning algorithm that do mission safe and effectively, when Unmanned Ground Vehicle (UGV) starts parking mission.
In this paper, our objective is to minimize passengers waiting times at the bus stops by making buses wait at a stop. We compare a simple rule based approach to a Monte-Carlo method to reach this objective. When allocated enough time, the Monte-Carlo method gives better results. If the passengers arrivals and the bus travel times are known, the best algorithm is nested Monte-Carlo search with memorization...
This paper presents a comprehensive method for evaluation of traffic movement organization planning which considers the impact to the environment. The latest studies indicated that the traffic management and control strategies with an objective to mitigate traffic congestions and with an objective to reduce traffic emissions are usually different and sometimes conflictive, so it is essential to consider...
This paper describes the design of unified active safety framework that combines trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles into a single constrained-optimal-control-based system. This framework allows for multiple actuation modes, diverse trajectory-planning objectives, and varying levels of autonomy. The vehicle navigation problem is formulated as a...
Vehicle arrival rate is the key parameter for signal planning at intersections, which are determined by upstream intersection signal planning and platoon dispersion characteristic. With consideration of randomness and uncertainty of traffic flow arriving at intersections and the requiring for coordinated signal control between adjacent intersections, this paper presents a new method for predicting...
This paper proposes a multi-level collaborative driving framework (MCDF) for human-autonomous vehicle interaction. There are three components in MCDF; the mission-behavior-motion block diagram, the functionality-module relationship and the human participation level table. Through integration of the three components, a human driver can cooperate with the vehicle's intelligence to achieve better driving...
In this paper, the ??fuzzy-AI model?? is applied for investment decision of optimum repair of multiple metro vehicles. The model solves this highly uncertain and sophisticated problem both based on its fuzzy analysis and reasoning of existing distressed metro vehicles. The VDSI (vehicle distress state indicator) is used in finding the optimum investment management of repair, which is a fuzzy synthesis...
We present a motion planning scheme for ground vehicles operating in a partially known environment. Kinematic constraints stemming from vehicle dynamics and from the requirement that the path must remain inside a free channel of a rectangular cell decomposition of the environment at all times, are dealt with by constructing a time-parameterized path using an appropriate combination of a finite number...
Safety is an important issue of driverless car. Yet, most current approaches fail to ensure safety even in a fully informed situation. In this paper we discuss how the safety criteria apply when the robot uses its on board sensors to evolve in an environment populated with static and moving obstacles. The sensors can only provide a partial and uncertain knowledge of the surroundings. We show that...
Based on the analysis for the functions of a large urban road passenger station, the planning principles are determined. Aiming at getting the optimum economic benefit while providing the most conveniences to passengers, a multi-objective model is established for the planning of passenger station distribution. It also explores the algorithm and detailed calculating steps. This method will be an assistant...
We present the motion planning framework for an autonomous vehicle navigating through urban environments. Such environments present a number of motion planning challenges, including ultra-reliability, high-speed operation, complex inter-vehicle interaction, parking in large unstructured lots, and constrained maneuvers. Our approach combines a model-predictive trajectory generation algorithm for computing...
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