Spatio-temporal Motion Planning for Autonomous Vehicles with Trapezoidal Prism Corridors and B\'{e}zier Curves
| Autor: | Deolasee, Srujan, Lin, Qin, Li, Jialun, Dolan, John M. |
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| Rok vydání: | 2022 |
| Předmět: | |
| Druh dokumentu: | Working Paper |
| Popis: | Safety-guaranteed motion planning is critical for self-driving cars to generate collision-free trajectories. A layered motion planning approach with decoupled path and speed planning is widely used for this purpose. This approach is prone to be suboptimal in the presence of dynamic obstacles. Spatial-temporal approaches deal with path planning and speed planning simultaneously; however, the existing methods only support simple-shaped corridors like cuboids, which restrict the search space for optimization in complex scenarios. We propose to use trapezoidal prism-shaped corridors for optimization, which significantly enlarges the solution space compared to the existing cuboidal corridors-based method. Finally, a piecewise B\'{e}zier curve optimization is conducted in our proposed corridors. This formulation theoretically guarantees the safety of the continuous-time trajectory. We validate the efficiency and effectiveness of the proposed approach in numerical and CommonRoad simulations. Comment: Under Review at ACC 2023 |
| Databáze: | arXiv |
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