Title :
Hybrid Strategy of Motion Planning with Kinematic Optimization for Autonomous Driving
Author :
Weiwei Huang;Ning Wu;Zhiwei Song;Xiaojun Wu;Qun Zhang;Susu Yao
Author_Institution :
Autonomous Vehicle Dept., Inst. for Infocomm Res., Singapore, Singapore
Abstract :
Autonomous driving has revolutionized the conventional driving. In this paper, we present our motion planner for autonomous driving. Two main issues of motion planning are addressed in the paper: kinematical feasibility and consistence of motion control. The kinematical feasibility is achieved by a prediction engine, which generates a reference path for vehicle to follow based on vehicle kinematic model. The core of the engine is based on a differential dynamic programming (DDP) optimization. The consistence of motion control is solved by a hybrid motion planning strategy, which also considers the previous reference path in the motion planning. The proposed method is verified on our autonomous vehicle platform driving on a public road and performing vehicle avoidance.
Keywords :
"Trajectory","Vehicles","Planning","Engines","Kinematics","Tracking","Cost function"
Conference_Titel :
Intelligent Transportation Systems (ITSC), 2015 IEEE 18th International Conference on
Electronic_ISBN :
2153-0017
DOI :
10.1109/ITSC.2015.270