Zhou Wu
ABSTRACT
Abstract— Path planning plays a vital role in autonomous driving. It is the replication of the reasoning and decision-making of a human brain. This paper is about analyzing and optimizing a GitHub project which is related to path planning for autonomous cars. This work has fixed the program to drive a car on the simulated highway while avoiding collision, following traffic, safely changing lanes, and minimizing jerk. Additionally, more critical scenarios have been identified to make driving experiences safer and the present cost functions are optimized to make the car react effectively. Throughout the multiple experiments, a more efficient program has been produced that has reduced the time to finish one lap by roughly 10 seconds. Path planning is one of the extremely fundamental processes within autonomous driving. There are still challenges to make path planning safer and robust, such as behavior modelling on other cars, and more efficient path searching algorithm, etc.
- Dwivedi, P. (2017, August 9). Planning the path for a Self-Driving Car on a Highway. Towards Data Science. https://towardsdatascience.com/planning-the-path-for-a-self-driving-car-on-a-highway-7134fddd8707.Google Scholar
- Hussein, M. (2021, February 14). Path Planning. Github Memory. https://githubmemory.com/repo/mhusseinsh/CarND-Path-Planning-Project.Google Scholar
- Werling, M., Ziegler, J., Kammel, S., & Thrun, S. (2010, June).Google Scholar
- Karunakaran, D. (2018, June 3). Path planning project-Udacity's self-driving car nanodegree. Intro to Artificial Intelligence. https://medium.com/intro-to-artificial-intelligence/path-planning-project-udacitys-self-driving-car-nanodegree-be1f531cc4f7.Google Scholar
- Hui, J. (2018, April 11). Self-driving car: Path planning to maneuver the traffic. Medium.https://jonathan-hui.medium.com/self-driving-car-path-planning-to-maneuver-the-traffic-ac63f5a620e2.Google Scholar
- Yin, W. (2020, March 7). Path Planning – Highway Driving project. CSDN. https://blog.csdn.net/williamhyin/article/details/105133783.Google Scholar
- Karthik, M. (2017, Jul 30). Path Planning in Highways for an Autonomous Vehicle. Medium. https://medium.com/@mohankarthik/path-planning-in-highways-for-an-autonomous-vehicle-242b91e6387d.Google Scholar
- Brörkens, M. (2018, November 9). CarND-Path-Planning-Project. Brorkens.De. https://broerkens.de/CarND-Path-Planning-Project/.Google Scholar
- Cohen, J. (2018, July 17). Path Planning for self-driving cars. Medium. https://thinkautonomous.medium.com/can-self-driving-car-think-6c9e8d939d60.Google Scholar
- Forson, E. (2018, July 8). Teaching Cars to Drive – Highway Path Planning. Towards Data Science. https://towardsdatascience.com/teaching-cars-to-drive-highway-path-planning-109c49f9f86c.Google Scholar
Index Terms
- Path Planning for Autonomous Cars
Recommendations
A behavior-based path planning for autonomous vehicle
ICIRA'10: Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part IIThe path planning is one of the key issues of autonomous vehicle. In this paper, a behavior-based method is used for path planning. This method can manage complexity environment and is easy to design and test behaviors. An autonomous electric vehicle is ...
Multi-maneuver vertical parking path planning and control in a narrow space
AbstractThe automatic parking system can replace people to complete the parking task and reduce the burden of driving. The size of the parking space affects the number of parking operations and the time for parking planning to be completed. ...
Highlights- The method divides parking planning into one maneuver, two maneuvers, and three maneuvers; and determines the size of parking space required under different ...
Parametric-based path generation for automated vehicles at roundabouts
This paper shows simulated/real experiments with automated vehicles in roundabouts.Real-time planning considering two-lane roundabout, taking different exits.G1 path continuity, highly reduced curvature steps and comfort considerations. Urban ...
Comments