Lateral Motion Planning for Evasive Lane Keeping of Autonomous Driving Vehicles based on Target Prioritization
2021 IEEE International Intelligent Transportation Systems Conference (ITSC)（2021）
Abstract
This paper describes a motion planning algorithm for evasive lane keeping in urban autonomous driving environments. Based on high-definition map (HD map), it is determined whether the surrounding vehicles and obstacles recognized by the environmental sensors exist within the driving lane of the subject vehicle. There are two methods of avoiding in lane static and dynamic obstacles: lane change and...
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Key words
Heuristic algorithms,Dynamics,Predictive models,Prediction algorithms,Planning,Sensors,Vehicle dynamics
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