A DECENTRALIZED PATH PLANNING AND CONTROL STRUCTURE FOR AN AUTONOMOUS VEHICLE
Jan C. Becker · 1998
This paper describes a path planning and control structure for an autonomous vehicle. The system consists of the following tasks: A route planning module generates a route leading from a starting point to a destination point using static information from a digital map. The sensor fusion module interprets sensor observations from a number of dissimilar sensors in order to detect and identify all obstacles and objects on and close to the road. This information is used to produce a uni#ed representation of the vehicle environment. The desired path of motion for the vehicle is generated by using information on the state of the vehicle, the vehicle environment and the generated route. Actuator signals are produced by the control unit such that the vehicle is guided along the desired path. Keywords--- Autonomous driving, sensor fusion, motion planning, robust vehicle control. I. Introduction I N this paper, the control system for an autonomous vehicle used in the project #Autonomous Driv...