TY - JOUR
T1 - Motion Planning of Autonomous Vehicles on a Dual Carriageway without Speed Lanes
AU - Kala, Rahul
AU - Warwick, Kevin
N1 - Creative Commons Attribution License
PY - 2015/1
Y1 - 2015/1
N2 - The problem of motion planning of an autonomous vehicle amidst other vehicles on a straight road is considered. Traffic in a number of countries is unorganized, where the vehicles do not move within predefined speed lanes. In this paper, we formulate a mechanism wherein an autonomous vehicle may travel on the “wrong” side in order to overtake a vehicle. Challenges include assessing a possible overtaking opportunity, cooperating with other vehicles, partial driving on the “wrong” side of the road and safely going to and returning from the “wrong” side. The experimental results presented show vehicles cooperating to accomplish overtaking manoeuvres.
AB - The problem of motion planning of an autonomous vehicle amidst other vehicles on a straight road is considered. Traffic in a number of countries is unorganized, where the vehicles do not move within predefined speed lanes. In this paper, we formulate a mechanism wherein an autonomous vehicle may travel on the “wrong” side in order to overtake a vehicle. Challenges include assessing a possible overtaking opportunity, cooperating with other vehicles, partial driving on the “wrong” side of the road and safely going to and returning from the “wrong” side. The experimental results presented show vehicles cooperating to accomplish overtaking manoeuvres.
U2 - 10.3390/electronics4010059
DO - 10.3390/electronics4010059
M3 - Article
VL - 4
SP - 59
EP - 81
JO - Electronics (Switzerland)
JF - Electronics (Switzerland)
SN - 2079-9292
IS - 1
ER -