Abstract:
Automated parking will probably be among the first tasks performed by fully autonomous vehicles. To smoothly integrate into the existing infrastructure and traffic scenar...Show MoreMetadata
Abstract:
Automated parking will probably be among the first tasks performed by fully autonomous vehicles. To smoothly integrate into the existing infrastructure and traffic scenarios an autonomous vehicle has to make assumptions on the intentions of human drivers and maneuver safely at low speeds in a highly structured environment without Car2X communication. This work presents a trajectory planning and coordination strategy for such situations. Based on the observed situation and an estimated intention of other participants in the scene their driving behavior is quantified and an optimized trajectory plan is calculated using mixed-integer linear programming. It balances own and other intentions and avoids collisions. The approach resolves conflicts occurring in parking situations as demonstrated in two simulated scenarios.
Published in: 2017 IEEE Intelligent Vehicles Symposium (IV)
Date of Conference: 11-14 June 2017
Date Added to IEEE Xplore: 31 July 2017
ISBN Information: