Safe Trajectory Generation for Complex Urban Environments Using Spatio-temporal Semantic Corridor.
IEEE Robotics and Automation Letters(2019)
摘要
Planning safe trajectories for autonomous vehicles in complex urban environments is challenging since there are numerous semantic elements (such as dynamic agents, traffic lights, and speed limits) to consider. These semantic elements may have different mathematical descriptions, such as obstacle, constraint, and cost. It is non-trivial to tune the effects from different combinations of semantic e...
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关键词
Semantics,Trajectory,Planning,Vehicle dynamics,Urban areas,Safety,Optimization
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