An event-triggered real-time motion planning strategy for autonomous vehicles-Reference-Cited by-同舟云学术

An event-triggered real-time motion planning strategy for autonomous vehicles

Published:2022-05-20 Issue:19 Volume:236 Page:10332-10348
ISSN:0954-4062
Container-title:Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
language:en
Short-container-title:Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

Author:

Hu Jie¹²³,Chen Ruinan¹²³^ORCID,Xu Wencai¹²³,Lu Ruoyu⁴

Affiliation:

1. Hubei Research Center for New Energy & Intelligent Connected Vehicle, Wuhan University of Technology, Wuhan, China

2. Hubei Collaborative Innovation Center for Automotive Components Technology, Wuhan University of Technology, Wuhan, China

3. Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan, China

4. Dongfeng Usharing Technology Co., Wuhan, China

Abstract

Motion planning is an essential part of autonomous vehicles. The planning process should respond to environmental changes in real time to ensure safety. This paper proposes an event-triggered real-time motion planning strategy to achieve a more real-time planning effect and a scenario-based planning process. The path planning process is discretized into several parts and integrated into the behavioral planning process. A hierarchical finite state machine (HFSM) based integrated motion planning process is proposed to trigger the discrete path planning parts according to environmental events. Thus, the output reference path can be obtained. Experiment and simulation results show the efficiency of our strategy.

Funder

Department of Science and Technology, Hubei Provincial People's Government

The Fundamental Research Funds for the Central Universities

Publisher

SAGE Publications

Subject

Mechanical Engineering

Link

http://journals.sagepub.com/doi/pdf/10.1177/09544062221098548

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