parse Road Network Model for Autonomous Navigation Using Clothoid

Author(s)

Rodrigues da Silva, Junior Anderson ^[1] ; Gomes, Iago Pacheco ^[1] ; Wolf, Denis Fernando ^[1] ; Grassi, Valdir ^[2]

Affiliation

^[1] Univ Sao Paulo, Inst Math & Comp Sci, BR-13566590 Sao Carlos - Brazil

^[2] Univ Sao Paulo, Sao Calos Sch Engn, Dept Elect & Comp Engn, BR-13566590 Sao Carlos - Brazil

• Document type: Journal article
• Source: IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS; v. 23, n. 2, p. 885-898, FEB 2022.
• Web of Science Citations: 0

Abstract

To autonomously navigate in traffic roads, an Autonomous Vehicle must take into account perception information, as well as the topological and geometric structure of the environment it is inserted in. Specifically in urban scenarios, the vehicle has to plan its path across intersections, roundabouts and perform lane changes to obey traffic rules. In addition, the planning algorithm must also consider the kinematics constraints of the vehicle and comfort parameters to the passengers. This paper proposes a road network model based on clothoids, which embraces the geometric and topological representation of the environment in a compact data structure. Piecewise linear continuous-curvature paths composed of clothoids, circular arcs, and straight lines are used for this purpose. The proposed approaches are evaluated in an urban scenario composed of curved and straight roads with single and double lanes, roundabouts, and intersections. As a result, a navigation architecture for Autonomous Vehicles was developed using the model, including global planning with continuous-curvature paths. (AU)

• FAPESP's process: 18/19732-5 - Decision making and trajectory planning for intelligent vehicles using partially observable Markov decision processes and inverse reinforcement learning
• Grantee: Júnior Anderson Rodrigues da Silva
• Support Opportunities: Scholarships in Brazil - Doctorate
• FAPESP's process: 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment
• Grantee: Marco Henrique Terra
• Support Opportunities: Research Projects - Thematic Grants