A Two-Stage Real-Time Path Planning: Application to the Overtaking Manuever

This paper proposes a two-stage local path planning approach to deal with all kinds of scenarios (i.e. intersections, turns, roundabouts). The first stage carries out an off-line optimization, considering vehicle kinematics and road constraints. The second stage includes all dynamic obstacles in the...

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Autores principales:	Fernando Garrido, Leonardo Gonzalez, Vicente Milanes, Joshue Perez Rastelli, Fawzi Nashashibi
Formato:	article
Lenguaje:	EN
Publicado:	IEEE 2020
Materias:	Automated driving path planning overtaking intelligent transportation systems Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/beae4a4fe85d482688cc38f19ab0e04b
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id	oai:doaj.org-article:beae4a4fe85d482688cc38f19ab0e04b
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spelling	oai:doaj.org-article:beae4a4fe85d482688cc38f19ab0e04b2021-11-19T00:06:29ZA Two-Stage Real-Time Path Planning: Application to the Overtaking Manuever2169-353610.1109/ACCESS.2020.3008374https://doaj.org/article/beae4a4fe85d482688cc38f19ab0e04b2020-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9138426/https://doaj.org/toc/2169-3536This paper proposes a two-stage local path planning approach to deal with all kinds of scenarios (i.e. intersections, turns, roundabouts). The first stage carries out an off-line optimization, considering vehicle kinematics and road constraints. The second stage includes all dynamic obstacles in the scene, generating a continuous path in real-time. Human-like driving style is provided by evaluating the sharpness of the road bends and the available space among them, optimizing the drivable area. The proposed approach is validated on overtaking scenarios where real-time path planning generation plays a key role. Simulation and real results on an experimental automated platform provide encouraging results, generating real-time collision-free paths while maintaining the defined smoothness criteria.Fernando GarridoLeonardo GonzalezVicente MilanesJoshue Perez RastelliFawzi NashashibiIEEEarticleAutomated drivingpath planningovertakingintelligent transportation systemsElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENIEEE Access, Vol 8, Pp 128730-128740 (2020)
institution	DOAJ
collection	DOAJ
language	EN
topic	Automated driving path planning overtaking intelligent transportation systems Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	Automated driving path planning overtaking intelligent transportation systems Electrical engineering. Electronics. Nuclear engineering TK1-9971 Fernando Garrido Leonardo Gonzalez Vicente Milanes Joshue Perez Rastelli Fawzi Nashashibi A Two-Stage Real-Time Path Planning: Application to the Overtaking Manuever
description	This paper proposes a two-stage local path planning approach to deal with all kinds of scenarios (i.e. intersections, turns, roundabouts). The first stage carries out an off-line optimization, considering vehicle kinematics and road constraints. The second stage includes all dynamic obstacles in the scene, generating a continuous path in real-time. Human-like driving style is provided by evaluating the sharpness of the road bends and the available space among them, optimizing the drivable area. The proposed approach is validated on overtaking scenarios where real-time path planning generation plays a key role. Simulation and real results on an experimental automated platform provide encouraging results, generating real-time collision-free paths while maintaining the defined smoothness criteria.
format	article
author	Fernando Garrido Leonardo Gonzalez Vicente Milanes Joshue Perez Rastelli Fawzi Nashashibi
author_facet	Fernando Garrido Leonardo Gonzalez Vicente Milanes Joshue Perez Rastelli Fawzi Nashashibi
author_sort	Fernando Garrido
title	A Two-Stage Real-Time Path Planning: Application to the Overtaking Manuever
title_short	A Two-Stage Real-Time Path Planning: Application to the Overtaking Manuever
title_full	A Two-Stage Real-Time Path Planning: Application to the Overtaking Manuever
title_fullStr	A Two-Stage Real-Time Path Planning: Application to the Overtaking Manuever
title_full_unstemmed	A Two-Stage Real-Time Path Planning: Application to the Overtaking Manuever
title_sort	two-stage real-time path planning: application to the overtaking manuever
publisher	IEEE
publishDate	2020
url	https://doaj.org/article/beae4a4fe85d482688cc38f19ab0e04b
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A Two-Stage Real-Time Path Planning: Application to the Overtaking Manuever

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