{R}eal-time {D}ynamic {T}rajectory {P}lanning for {H}ighly {A}utomated {D}riving in {H}ighways

Bibtex entry :

@inproceedings { RESENDE:2010:INRIA-00533487:1,
    hal_id = { inria-00533487 },
    url = { http://hal.inria.fr/inria-00533487/PDF/Real-time_Dynamic_Trajectory_Planning_for_Highly_Automated_Driving_in_Highways.pdf },
    title = { {R}eal-time {D}ynamic {T}rajectory {P}lanning for {H}ighly {A}utomated {D}riving in {H}ighways },
    author = { {R}esende, {P}aulo and {N}ashashibi, {F}awzi },
    abstract = { {T}his paper presents the implementation of two methods for real-time trajectory planning in a dynamic environment applied to highly automated driving in a highway scenario. {B}oth methods have been implemented for the {HAVE}it {E}uropean project. {T}he first method follows the {P}artial {M}otion {P}lanning approach, and the second method uses 5th degree (quintic) polynomials to generate a detailed spatio-temporal description of a trajectory to be performed. {B}oth implementations are integrated in a simulation environment and in an experimental research vehicle within {HAVE}it. {R}esults and evaluations of the trajectory planning algorithms are presented. },
    keywords = { {M}otion planning in dynamic environments; copilot; {HAVE}it; highly automated driving; vehicle control },
    language = { {A}nglais },
    affiliation = { {IMARA} - {INRIA} {R}ocquencourt - {INRIA} - {C}entre de {CAO} et {R}obotique - {CAOR} - {M}ines {P}aris{T}ech },
    booktitle = { 13th {I}nternational {IEEE} {C}onference on {I}ntelligent {T}ransportation {S}ystems },
    address = { {F}unchal, {M}adeira {P}ortugal },
    organization = { {I}nstitute of {S}ystems and {R}obotics - {U}niversity of {C}oimbra, {P}ortugal },
    audience = { internationale },
    day = { 19 },
    month = { 09 },
    year = { 2010 },
}