Local motion planning method using closed-loop forward simulation for autonomous vehicle

Byungjae Park; Kiin Na; Jaemin Byun; Woo Young Han

doi:10.1109/SMC.2016.7844532

Local motion planning method using closed-loop forward simulation for autonomous vehicle

Byungjae Park, Kiin Na, Jaemin Byun, Woo Young Han

Dept. of Mechanical System and Design Engineering

Electronics and Telecommunications Research Institute

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

This paper proposes a motion planning method for an autonomous vehicle in an urban environment. The proposed method generates trajectories using the closed-loop forward simulation (CLFS), which can consider various properties of an autonomous vehicle. The safeties of the generated trajectories are evaluated using an occupancy grid map. Using the proposed method, smooth and safe trajectories can be generated. The experiment in a real urban environment was conducted to verify the performance of the proposed method.

Original language	English
Title of host publication	2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1988-1993
Number of pages	6
ISBN (Electronic)	9781509018970
DOIs	https://doi.org/10.1109/SMC.2016.7844532
State	Published - 6 Feb 2017
Event	2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Budapest, Hungary Duration: 9 Oct 2016 → 12 Oct 2016

Publication series

Name	2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings

Conference

Conference	2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016
Country/Territory	Hungary
City	Budapest
Period	9/10/16 → 12/10/16

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10.1109/SMC.2016.7844532

Cite this

Park, B., Na, K., Byun, J., & Han, W. Y. (2017). Local motion planning method using closed-loop forward simulation for autonomous vehicle. In 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings (pp. 1988-1993). Article 7844532 (2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2016.7844532

Park, Byungjae ; Na, Kiin ; Byun, Jaemin et al. / Local motion planning method using closed-loop forward simulation for autonomous vehicle. 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 1988-1993 (2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings).

@inproceedings{10e7270cfc854830b8947a3ecbea9d86,

title = "Local motion planning method using closed-loop forward simulation for autonomous vehicle",

abstract = "This paper proposes a motion planning method for an autonomous vehicle in an urban environment. The proposed method generates trajectories using the closed-loop forward simulation (CLFS), which can consider various properties of an autonomous vehicle. The safeties of the generated trajectories are evaluated using an occupancy grid map. Using the proposed method, smooth and safe trajectories can be generated. The experiment in a real urban environment was conducted to verify the performance of the proposed method.",

author = "Byungjae Park and Kiin Na and Jaemin Byun and Han, \{Woo Young\}",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 ; Conference date: 09-10-2016 Through 12-10-2016",

year = "2017",

month = feb,

day = "6",

doi = "10.1109/SMC.2016.7844532",

language = "English",

series = "2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1988--1993",

booktitle = "2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings",

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Park, B, Na, K, Byun, J & Han, WY 2017, Local motion planning method using closed-loop forward simulation for autonomous vehicle. in 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings., 7844532, 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 1988-1993, 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016, Budapest, Hungary, 9/10/16. https://doi.org/10.1109/SMC.2016.7844532

Local motion planning method using closed-loop forward simulation for autonomous vehicle. / Park, Byungjae; Na, Kiin; Byun, Jaemin et al.
2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1988-1993 7844532 (2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Local motion planning method using closed-loop forward simulation for autonomous vehicle

AU - Park, Byungjae

AU - Na, Kiin

AU - Byun, Jaemin

AU - Han, Woo Young

PY - 2017/2/6

Y1 - 2017/2/6

N2 - This paper proposes a motion planning method for an autonomous vehicle in an urban environment. The proposed method generates trajectories using the closed-loop forward simulation (CLFS), which can consider various properties of an autonomous vehicle. The safeties of the generated trajectories are evaluated using an occupancy grid map. Using the proposed method, smooth and safe trajectories can be generated. The experiment in a real urban environment was conducted to verify the performance of the proposed method.

AB - This paper proposes a motion planning method for an autonomous vehicle in an urban environment. The proposed method generates trajectories using the closed-loop forward simulation (CLFS), which can consider various properties of an autonomous vehicle. The safeties of the generated trajectories are evaluated using an occupancy grid map. Using the proposed method, smooth and safe trajectories can be generated. The experiment in a real urban environment was conducted to verify the performance of the proposed method.

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DO - 10.1109/SMC.2016.7844532

M3 - Conference contribution

AN - SCOPUS:85015715393

T3 - 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings

SP - 1988

EP - 1993

BT - 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016

Y2 - 9 October 2016 through 12 October 2016

ER -

Park B, Na K, Byun J, Han WY. Local motion planning method using closed-loop forward simulation for autonomous vehicle. In 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1988-1993. 7844532. (2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings). doi: 10.1109/SMC.2016.7844532

Local motion planning method using closed-loop forward simulation for autonomous vehicle

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