Autonomous vehicle planning system design under perception limitation in pedestrian environment
Wei Liu, Zhiyong Weng, Zhuang Jie Chong, Xiaotong T. Shen, Scott Pendleton, Baoxing Qin, Guo Ming James Fu, Marcelo H. Ang · 2015
Autonomous driving within the pedestrian environment is always challenging, as the perception ability is limited by the crowdedness and the planning process is constrained by the complicated human behaviors. In this paper, we present a vehicle planning system for self-driving with limited perception in the pedestrian environment. Acknowledging the difficulty of obstacle detection and tracking within the crowded pedestrian environment, only the raw LIDAR sensing data is employed for the purpose of traversability analysis and vehicle planning. The designed vehicle planning system has been experimentally validated to be robust and safe within the populated pedestrian environment.