@inproceedings{03371b9fa83a4d61acf728ad1cea3e56,
title = "A two-level path planning method for on-road autonomous driving",
abstract = "We present a real-time path planning method for on-road autonomous driving. This method utilizes a two-level hierarchy consisting of on-road behavior planning and online path generating to achieve feasible paths for autonomous vehicle in dynamic on-road environment which is characterized by lots of structured information and flat terrain. An on-road behavior planning technique is used to transform the uncertain path planning problem into several determined sub-ones. Then, the online path planning algorithm is applied to solve these sub-problems. This method contains three major components: anytime behavioral replanning, online path planning and mitigation strategy for time lag due to an agent system with asynchronous multi-sensor. We evaluate the proposed method on the KUAFU-1, an autonomous vehicle prototype modified by ourselves. Experimental results show that the proposed method can successfully provide real-time feasible paths in various on-road traffic sceneries.",
keywords = "behavioral planning, path planning, time lag",
author = "Liang Ma and Jing Yang and Meng Zhang",
year = "2012",
doi = "10.1109/ISdea.2012.607",
language = "英语",
isbn = "9780769546087",
series = "Proceedings - 2012 International Conference on Intelligent Systems Design and Engineering Applications, ISDEA 2012",
pages = "661--664",
booktitle = "Proceedings - 2012 International Conference on Intelligent Systems Design and Engineering Applications, ISDEA 2012",
note = "2nd International Conference on Intelligent Systems Design and Engineering Applications, ISDEA 2012 ; Conference date: 06-01-2012 Through 07-01-2012",
}