Path Planning with Discrete Geometric Shape Patterns
Bruno Simon, Peter Riegl, Andreas Gaull · 2019
This paper describes a novel technique for generating vehicle trajectories motivated by the need for fast and robust path planning in hazardous traffic situations. We use the well–known approach of assembling trajectories from circular arcs, line segments, and clothoids to construct curves and s- bends aligned to a given target line. To this end, we use a special geometric technique based on discrete shape patterns built from elementary blocks. This enables us to derive complex maneuvers from simple design specifications. We can use it to create curves that enclose a random angle and build s-bends that are aligned with a parallel line at any distance. If these two methods are combined, curves and s-bends can be generated which are aligned to lines of arbitrary orientation. Simulations prove the correct operation of the proposed algorithm. The applicability of the approach was demonstrated in real driving tests using a collision evasion scenario.