학술논문
Sparse Road Network Model for Autonomous Navigation Using Clothoids
Document Type
Periodical
Source
IEEE Transactions on Intelligent Transportation Systems IEEE Trans. Intell. Transport. Syst. Intelligent Transportation Systems, IEEE Transactions on. 23(2):885-898 Feb, 2022
Subject
Language
ISSN
1524-9050
1558-0016
1558-0016
Abstract
To autonomously navigate in traffic roads, an Autonomous Vehicle must take into account perception information, as well as the topological and geometric structure of the environment it is inserted in. Specifically in urban scenarios, the vehicle has to plan its path across intersections, roundabouts and perform lane changes to obey traffic rules. In addition, the planning algorithm must also consider the kinematics constraints of the vehicle and comfort parameters to the passengers. This paper proposes a road network model based on clothoids, which embraces the geometric and topological representation of the environment in a compact data structure. Piecewise linear continuous-curvature paths composed of clothoids, circular arcs, and straight lines are used for this purpose. The proposed approaches are evaluated in an urban scenario composed of curved and straight roads with single and double lanes, roundabouts, and intersections. As a result, a navigation architecture for Autonomous Vehicles was developed using the model, including global planning with continuous-curvature paths.