J Shanghai Jiaotong Univ Sci ›› 2021, Vol. 26 ›› Issue (5): 731-738.doi: 10.1007/s12204-021-2363-8

• Intelligent Connected Vehicle • Previous Articles     Next Articles

Collision-Free Path Planning with Kinematic Constraints in Urban Scenarios

WANG Liang (王 亮), WANG Bing (王 冰), WANG Chunxiang∗ (王春香)   

  1. (Department of Automation; Key Laboratory of System Control and Information Processing of Ministry of Education, Shanghai Jiao Tong University, Shanghai 200240, China)
  • Received:2020-12-22 Online:2021-10-26 Published:2021-10-28

Abstract: In urban driving scenarios, owing to the presence of multiple static obstacles such as parked cars and roadblocks, planning a collision-free and smooth path remains a challenging problem. In addition, the path-planning problem is mostly non-convex, and contains multiple local minima. Therefore, a method for combining a sampling-based method and an optimization-based method is proposed in this paper to generate a collision-free path with kinematic constraints for urban scenarios. The sampling-based method constructs a search graph to search for a seeding path for exploring a safe driving corridor, and the optimization-based method constructs a quadratic programming problem considering the desired state constraints, continuity constraints, driving corridor constraints, and kinematic constraints to perform path optimization. The experimental results show that the proposed method is able to plan a collision-free and smooth path in real time when managing typical urban scenarios.

Key words: autonomous vehicle, path planning, dynamic searching, quadratic programming

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