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Sparse Road Network Model for Autonomous Navigation Using Clothoids
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DOI：10.1109/TITS.2020.3016620.png)
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Abstract
En 中文
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.
Keywords:
Roads
Navigation
Autonomous vehicles
Computational modeling
Geometry
Splines (mathematics)
Path planning
Autonomous vehicles
road network modeling
roundabouts
lane change
path planning
clothoids
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