Motion Planner for Automated Vehicle on Unstructured Roads

A motion planner is established to realize piloting automated driving on unstructured roads. It has the following features: i) improved adaptivity to over-the-horizon driving environment, ii) enhanced compatibility with unstructured roads, and iii) guaranteed computational efficiency for real time application. The performance of the proposed motion planner was evaluated in a software-in-the-loop simulation platform. section. The evaluation includes: i) unstructured roads compatibility validation, and ii) validation of adaptivity to traffic events. Experiment results showed that applying the planner can enhance adaptivity to over-the-horizon traffic events on unstructured roads. The average travel efficiency enhancement is about 12.18% and the average perceived risk reduction is about 57.19%.