Journal
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
Volume 17, Issue 4, Pages 1135-1145Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TITS.2015.2498841
Keywords
Motion planning; automated vehicles; path planning; intelligent transportation systems
Categories
Funding
- ECSEL project DESERVE
- FP7 CityMobil2
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Intelligent vehicles have increased their capabilities for highly and, even fully, automated driving under controlled environments. Scene information is received using onboard sensors and communication network systems, i.e., infrastructure and other vehicles. Considering the available information, different motion planning and control techniques have been implemented to autonomously driving on complex environments. The main goal is focused on executing strategies to improve safety, comfort, and energy optimization. However, research challenges such as navigation in urban dynamic environments with obstacle avoidance capabilities, i.e., vulnerable road users (VRU) and vehicles, and cooperative maneuvers among automated and semi-automated vehicles still need further efforts for a real environment implementation. This paper presents a review ofmotion planning techniques implemented in the intelligent vehicles literature. A description of the technique used by research teams, their contributions in motion planning, and a comparison among these techniques is also presented. Relevant works in the overtaking and obstacle avoidance maneuvers are presented, allowing the understanding of the gaps and challenges to be addressed in the next years. Finally, an overview of future research direction and applications is given.
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