Communication Dans Un Congrès Année : 2022

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.

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Dates et versions

hal-03872822 , version 1 (25-11-2022)

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Thibaud Duhautbout, Reine Talj, Véronique Cherfaoui, François Aioun, Franck Guillemard. Efficient Speed Planning in the Path-Time Space for Urban Autonomous Driving. 25th IEEE International Conference on Intelligent Transportation Systems (ITSC 2022), Oct 2022, Macau, China. pp.1268-1274, ⟨10.1109/ITSC55140.2022.9921820⟩. ⟨hal-03872822⟩
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