Efficient Speed Planning in the Path-Time Space for Urban Autonomous Driving
Résumé
In this article, an algorithmic speed planning method for an autonomous vehicle dealing with moving obstacles is presented. Using the path-time space to represent collision zones with other vehicles, algorithms are proposed to pass before and after, while ensuring the respect of safety distances. Simulation results are proposed to show the generated speed profiles in common driving scenarios.
Domaines
Automatique / Robotique
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ITSC2022___Speed_Planning_in_the_Path_Time_Space.pdf (2.28 Mo)
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