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Authors: Abdallah Said 1 ; 2 ; Reine Talj 1 ; Clovis Francis 2 and Hassan Shraim 2

Affiliations: 1 Université de Technologie de Compiègne, CNRS, Heudiasyc (Heuristics and Diagnosis of Complex Systems), CS 60 319, 60 203 Compiègne Cedex, France ; 2 Université Lebanonaise, Faculté de Génie, Centre de Recherche Scientifique en Ingénierie (CRSI), Lebanon

Keyword(s): Autonomous Vehicle, Trajectory Planning, Cost Analysis.

Abstract: Trajectory planning is an essential issue for autonomous vehicles navigation. It represents a decision-making level that considers several constraints to be respected to navigate safely and comfortably in a dynamic environment. This paper presents a reactive trajectory planning, which consists to generates several candidate trajectories. Then, selecting the best trajectory among candidates is based on different criteria, each described by a cost function. Indeed, the algorithm aims to minimize a global cost function, a combination of several costs, to determine the best trajectory. The main objective of this work is to study the algorithm’s sensitivity against parameter tuning and to find a generic range of weighting coefficients for the cost function of the planning algorithm to make the algorithm as reliable as possible against various driving conditions.

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Paper citation in several formats:
Said, A.; Talj, R.; Francis, C. and Shraim, H. (2022). Tuning and Costs Analysis for a Trajectory Planning Algorithm for Autonomous Vehicles. In Proceedings of the 8th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS; ISBN 978-989-758-573-9; ISSN 2184-495X, SciTePress, pages 88-95. DOI: 10.5220/0011067700003191

@conference{vehits22,
author={Abdallah Said. and Reine Talj. and Clovis Francis. and Hassan Shraim.},
title={Tuning and Costs Analysis for a Trajectory Planning Algorithm for Autonomous Vehicles},
booktitle={Proceedings of the 8th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS},
year={2022},
pages={88-95},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011067700003191},
isbn={978-989-758-573-9},
issn={2184-495X},
}

TY - CONF

JO - Proceedings of the 8th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS
TI - Tuning and Costs Analysis for a Trajectory Planning Algorithm for Autonomous Vehicles
SN - 978-989-758-573-9
IS - 2184-495X
AU - Said, A.
AU - Talj, R.
AU - Francis, C.
AU - Shraim, H.
PY - 2022
SP - 88
EP - 95
DO - 10.5220/0011067700003191
PB - SciTePress