Abstract:
This paper proposes a motion planning method for an autonomous vehicle in an urban environment. The proposed method generates trajectories using the closed-loop forward s...Show MoreMetadata
Abstract:
This paper proposes a motion planning method for an autonomous vehicle in an urban environment. The proposed method generates trajectories using the closed-loop forward simulation (CLFS), which can consider various properties of an autonomous vehicle. The safeties of the generated trajectories are evaluated using an occupancy grid map. Using the proposed method, smooth and safe trajectories can be generated. The experiment in a real urban environment was conducted to verify the performance of the proposed method.
Date of Conference: 09-12 October 2016
Date Added to IEEE Xplore: 09 February 2017
ISBN Information: