Trajectory Planning for Autonomous Vehicle Using Digital Map

被引：0
|
作者：
Bajic, Jure [1 ]
Herceg, Marijan [2 ]
Resetar, Ivan [3 ]
Velikic, Ivan [3 ]
机构：
[1] Inst RT RK Osijek LLC Informat Technol, Cara Hadrijana 10b, Osijek, Croatia
[2] Fac Elect Engn Comp Sci & Informat Technol, Kneza Trpimira 2b, Osijek, Croatia
[3] RT RK Inst Comp Based Syst, Narodnog Fronta 23a, Novi Sad, Serbia
来源：
2019 ZOOMING INNOVATION IN CONSUMER TECHNOLOGIES CONFERENCE (ZINC) | 2019年
关键词：
ADAS; trajectory planning; autonomous car;
D O I：
10.1109/zinc.2019.8769382
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
In this paper, an algorithm for autonomous vehicle trajectory planning is proposed. The proposed algorithm consists of two parts. In the first part, transformation of given coordinates from Cartesian system to Frenet-Serret system is applied, along with interpolation of points in trajectory. In the second part, most efficient trajectory is being chosen and optimized. The algorithm was developed in Udacity's simulator, where it was tested and compared with other similar algorithms. The algorithm shows promising performance through testing.
引用
收藏
页码：44 / 49
页数：6
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