Computing the Drivable Area of Autonomous Road Vehicles in Dynamic Road Scenes
Computing the Drivable Area of Autonomous Road Vehicles in Dynamic Road Scenes
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DOI：
10.1109/tits.2017.2742141
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发表时间：
2018-06
影响因子：
8.5
通讯作者：
Sebastian Söntges;M. Althoff
中科院分区：
文献类型：
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作者：
Sebastian Söntges;M. Althoff
本文提出了一种过逼近时变障碍物下道路车辆可行驶区域的算法。可行驶区域可以用于检测是否存在可行轨迹以及在哪个区域中可以限制可行驶轨迹的搜索。为了这个目的，我们抽象的考虑道路车辆由一个点质量有界的速度和加速度。我们的算法计算在离散时间步长的可达占用。在每个时间步，集合由有限多个集合的并表示，这些集合各自是两个2-D凸多面体的笛卡尔积。我们用三个例子来证明我们的方法：i）在x和y方向具有相同动态约束的交通情况; ii）具有不同横向和纵向动态约束的高速公路场景; iii）具有不同交通预测的高速公路场景。实例表明，我们可以计算的可行驶区域足够快，部署我们的方法在真实的车辆。
This paper presents an algorithm for overapproximating the drivable area of road vehicles in the presence of time-varying obstacles. The drivable area can be used to detect whether a feasible trajectory exists and in which area one can limit the search of drivable trajectories. For this purpose, we abstract the considered road vehicle by a point mass with bounded velocity and acceleration. Our algorithm calculates the reachable occupancy at discrete time steps. At each time step, the set is represented by a union of finitely many sets, which are each the Cartesian product of two 2-D convex polytopes. We demonstrate our method with three examples: i) a traffic situation with identical dynamic constraints in the x- and y-directions; ii) a highway scenario with different lateral and longitudinal constraints of the dynamics; and iii) a highway scenario with different traffic predictions. The examples demonstrate that we can compute the drivable area quickly enough to deploy our approach in real vehicles.