Real-Time planning for adjacent consecutive intersections

Fernando Garrido; David González; Vicente Milanés; Joshué Pérez; Fawzi Nashashibi

doi:10.1109/ITSC.2016.7795695

Real-Time planning for adjacent consecutive intersections

Fernando Garrido
, David González
, Vicente Milanés
, Joshué Pérez
, Fawzi Nashashibi

Robotics and Intelligent Transportation Systems (RITS) Team
VeDeCoM institute

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Citations (Scopus)

Abstract

Real-Time path planning constitutes one of the hot topics when developing automated driving. Different path planning techniques have been studied in both the robotics and automated vehicles fields trying to improve the trajectory generation and its tracking. In this paper, a novel local path planning algorithm combining both off-line and real-Time generation for automated vehicles in urban environments is presented. It takes advantage of an off-line planning strategy to achieve a smooth and continuous trajectory generation with adjacent consecutive intersections. Therefore, this approach allows a smooth and continuous trajectory by means of planning consecutive curves concurrently, i.e., it will plan the upcoming curve and the following one in advance, taking into account the constraints of the infrastructure and the physical limitations of the vehicle. The real-Time planning algorithm has been tested in simulation based on the INRIA-RITS vehicles architecture. The results obtained show an improvement in the smoothness, continuity and comfort of the generated paths.

Original language	English
Title of host publication	2016 IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1108-1113
Number of pages	6
ISBN (Electronic)	9781509018895
DOIs	https://doi.org/10.1109/ITSC.2016.7795695
Publication status	Published - 22 Dec 2016
Event	19th IEEE International Conference on Intelligent Transportation Systems, ITSC 2016 - Rio de Janeiro, Brazil Duration: 1 Nov 2016 → 4 Nov 2016

Publication series

Name	IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC

Conference

Conference	19th IEEE International Conference on Intelligent Transportation Systems, ITSC 2016
Country/Territory	Brazil
City	Rio de Janeiro
Period	1/11/16 → 4/11/16

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 11 Sustainable Cities and Communities

Access to Document

10.1109/ITSC.2016.7795695

Cite this

Garrido, F., González, D., Milanés, V., Pérez, J., & Nashashibi, F. (2016). Real-Time planning for adjacent consecutive intersections. In 2016 IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016 (pp. 1108-1113). Article 7795695 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ITSC.2016.7795695

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title = "Real-Time planning for adjacent consecutive intersections",

abstract = "Real-Time path planning constitutes one of the hot topics when developing automated driving. Different path planning techniques have been studied in both the robotics and automated vehicles fields trying to improve the trajectory generation and its tracking. In this paper, a novel local path planning algorithm combining both off-line and real-Time generation for automated vehicles in urban environments is presented. It takes advantage of an off-line planning strategy to achieve a smooth and continuous trajectory generation with adjacent consecutive intersections. Therefore, this approach allows a smooth and continuous trajectory by means of planning consecutive curves concurrently, i.e., it will plan the upcoming curve and the following one in advance, taking into account the constraints of the infrastructure and the physical limitations of the vehicle. The real-Time planning algorithm has been tested in simulation based on the INRIA-RITS vehicles architecture. The results obtained show an improvement in the smoothness, continuity and comfort of the generated paths.",

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Garrido, F, González, D, Milanés, V, Pérez, J & Nashashibi, F 2016, Real-Time planning for adjacent consecutive intersections. in 2016 IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016., 7795695, IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC, Institute of Electrical and Electronics Engineers Inc., pp. 1108-1113, 19th IEEE International Conference on Intelligent Transportation Systems, ITSC 2016, Rio de Janeiro, Brazil, 1/11/16. https://doi.org/10.1109/ITSC.2016.7795695

Real-Time planning for adjacent consecutive intersections. / Garrido, Fernando; González, David; Milanés, Vicente et al.
2016 IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 1108-1113 7795695 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Real-Time planning for adjacent consecutive intersections

AU - Garrido, Fernando

AU - González, David

AU - Milanés, Vicente

AU - Pérez, Joshué

AU - Nashashibi, Fawzi

PY - 2016/12/22

Y1 - 2016/12/22

N2 - Real-Time path planning constitutes one of the hot topics when developing automated driving. Different path planning techniques have been studied in both the robotics and automated vehicles fields trying to improve the trajectory generation and its tracking. In this paper, a novel local path planning algorithm combining both off-line and real-Time generation for automated vehicles in urban environments is presented. It takes advantage of an off-line planning strategy to achieve a smooth and continuous trajectory generation with adjacent consecutive intersections. Therefore, this approach allows a smooth and continuous trajectory by means of planning consecutive curves concurrently, i.e., it will plan the upcoming curve and the following one in advance, taking into account the constraints of the infrastructure and the physical limitations of the vehicle. The real-Time planning algorithm has been tested in simulation based on the INRIA-RITS vehicles architecture. The results obtained show an improvement in the smoothness, continuity and comfort of the generated paths.

AB - Real-Time path planning constitutes one of the hot topics when developing automated driving. Different path planning techniques have been studied in both the robotics and automated vehicles fields trying to improve the trajectory generation and its tracking. In this paper, a novel local path planning algorithm combining both off-line and real-Time generation for automated vehicles in urban environments is presented. It takes advantage of an off-line planning strategy to achieve a smooth and continuous trajectory generation with adjacent consecutive intersections. Therefore, this approach allows a smooth and continuous trajectory by means of planning consecutive curves concurrently, i.e., it will plan the upcoming curve and the following one in advance, taking into account the constraints of the infrastructure and the physical limitations of the vehicle. The real-Time planning algorithm has been tested in simulation based on the INRIA-RITS vehicles architecture. The results obtained show an improvement in the smoothness, continuity and comfort of the generated paths.

UR - https://www.scopus.com/pages/publications/85010046941

U2 - 10.1109/ITSC.2016.7795695

DO - 10.1109/ITSC.2016.7795695

M3 - Conference contribution

AN - SCOPUS:85010046941

T3 - IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC

SP - 1108

EP - 1113

BT - 2016 IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 19th IEEE International Conference on Intelligent Transportation Systems, ITSC 2016

Y2 - 1 November 2016 through 4 November 2016

ER -

Garrido F, González D, Milanés V, Pérez J, Nashashibi F. Real-Time planning for adjacent consecutive intersections. In 2016 IEEE 19th International Conference on Intelligent Transportation Systems, ITSC 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 1108-1113. 7795695. (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC). doi: 10.1109/ITSC.2016.7795695

Real-Time planning for adjacent consecutive intersections

Abstract

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UN SDGs

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