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Sensor-Based Trajectory Generation for Advanced Driver Assistance System

School of Systems Engineering, University of Reading, Whiteknights, Reading, Berkshire, RG6 6AY, UK
Author to whom correspondence should be addressed.
Robotics 2013, 2(1), 19-35;
Received: 11 January 2013 / Revised: 19 February 2013 / Accepted: 5 March 2013 / Published: 11 March 2013
(This article belongs to the Special Issue Human Centred Robotics)
PDF [325 KB, uploaded 11 March 2013]


This paper investigates the trajectory generation problem for an advanced driver assistance system that could sense the driving state of the vehicle, so that a collision free trajectory can be generated safely. Specifically, the problem of trajectory generation is solved for the safety assessment of the driving state and to manipulate the vehicle in order to avoid any possible collisions. The vehicle senses the environment so as to obtain information about other vehicles and static obstacles ahead. Vehicles may share the perception of the environment via an inter-vehicle communication system. The planning algorithm is based on a visibility graph. A lateral repulsive potential is applied to adaptively maintain a trade-off between the trajectory length and vehicle clearance, which is the greatest problem associated with visibility graphs. As opposed to adaptive roadmap approaches, the algorithm exploits the structured nature of the environment for construction of the roadmap. Furthermore, the mostly organized nature of traffic systems is exploited to obtain orientation invariance, which is another limitation of both visibility graphs and adaptive roadmaps. Simulation results show that the algorithm can successfully solve the problem for a variety of commonly found scenarios. View Full-Text
Keywords: advanced driver assistance systems; trajectory generation; intelligent vehicles; path planning; visibility graphs advanced driver assistance systems; trajectory generation; intelligent vehicles; path planning; visibility graphs

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This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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Shackleton, C.J.; Kala, R.; Warwick, K. Sensor-Based Trajectory Generation for Advanced Driver Assistance System. Robotics 2013, 2, 19-35.

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