MOREAU, Julien (University of Bordeaux), MELCHIOR, Pierre (Université Bordeaux 1 - IPB/ENSEIRB-MATMECA), Victor, Stephane (Université de Bordeaux, IMS), Cassany, Louis (University of Bordeaux), MOZE, Mathieu (PSA Peugeot Citroën), AIOUN, François (PSA Company), Guillemard, Franck (Peugeot)

Reactive Path Planning in Intersection for Autonomous Vehicle

Scheduled for presentation during the Regular Session "Motion and Path Planning for Autonomous Vehicle" (MoBT1), Monday, June 24, 2019, 17:10−17:30, Chambord

9th IFAC International Symposium on Advances in Automotive Control, June 23-27, 2019, Orléans, France

This information is tentative and subject to change. Compiled on April 18, 2024

Abstract

Path planning is an essential stage for mobile robot control. It is more newsworthy than ever in the automotive context and especially for autonomous vehicle. Also, path planning methods need to be reactive and adaptive regarding life situations, traffic and obstacle crossing. In this paper, a B'{e}zier curve optimization method is proposed to cope with these constraints and autonomous vehicles are considered equipped with all necessary sensors for obstacle detection. In this way, the obstacle avoidance problem is transformed into an optimization problem under equality constraints. This optimization problem is solved by combining Lagrangian and Gradient-based methods.