Efficient Local Navigation Approach for Autonomous Driving Vehicles

被引:6
作者
Lopez, Joaquin [1 ]
Sanchez-Vilarino, Pablo [2 ]
Sanz, Rafael [1 ]
Paz, Enrique [1 ]
机构
[1] Univ Vigo, Dept Syst Engn & Automat, Vigo 36310, Spain
[2] Imatia Innovat SL, La Coruna 15008, Spain
来源
IEEE ACCESS | 2021年 / 9卷
关键词
Navigation; Trajectory; Automobiles; Autonomous vehicles; Sensors; Roads; Collision avoidance; Autonomous vehicles (AVs); obstacle avoidance; reactive control; vehicle motion control; COLLISION-AVOIDANCE; TRACKING; ENVIRONMENTS; ROBOTS;
D O I
10.1109/ACCESS.2021.3084807
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper presents an efficient and practical approach for a car navigation system (CVM-Car) based on the velocity space optimization paradigm. The method calculates the velocity control commands to keep the car in the lane while avoiding the obstacles detected by the proximity sensors. The car has to follow a road path consisting of a sequence of lanelets. This approach is a lower-level reactive control that combines the pure pursuit method to obtain a reference curvature and a reactive control algorithm that keeps the vehicle in the center of the lane' s free space while avoiding obstacles that can partially block it. CVM-Car formulates local obstacle avoidance as a constrained optimization problem in the velocity space of the car. In addition to the vehicle dynamics and obstacles constraints included by the curvature method, car-shape and non-holonomic restrictions are considered in the CVM-Car velocity space. The method has been applied to an autonomous vehicle prototype.
引用
收藏
页码:79776 / 79792
页数:17
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