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Semantic Scholar Open Access 2018 33 sitasi

Autonomous driving motion planning with obstacles prioritization using lexicographic optimization

Y. Rasekhipour Iman Fadakar A. Khajepour
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Abstrak

Abstract There are driving situations that avoiding all obstacles is infeasible. In such situations, an autonomous vehicle should avoid vulnerable obstacles like pedestrians. In this paper, a motion planning method is presented that avoids obstacles according to their priority orders. The method utilizes a model predictive controller with obstacle constraints and applies lexicographic optimization to the controller to prioritize the constraints, and subsequently, prioritize the obstacles. The proposed method is simulated on a high fidelity CarSim vehicle model. The results show that when avoiding all obstacles is not feasible, the proposed method avoids the obstacles with the highest priority orders.

Topik & Kata Kunci

Computer Science

Penulis (3)

Y

Y. Rasekhipour

I

Iman Fadakar

A

A. Khajepour

Format Sitasi

APA MLA BibTeX
Rasekhipour, Y., Fadakar, I., Khajepour, A. (2018). Autonomous driving motion planning with obstacles prioritization using lexicographic optimization. https://doi.org/10.1016/J.CONENGPRAC.2018.04.014

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Informasi Jurnal
Tahun Terbit
2018
Bahasa
en
Total Sitasi
33×
Sumber Database
Semantic Scholar
DOI
10.1016/J.CONENGPRAC.2018.04.014
Akses
Open Access ✓