A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles

Paden, Brian; Cap, Michal; Yong, Sze Zheng; Yershov, Dmitry; Frazzoli, Emilio

doi:10.1109/tiv.2016.2578706

Cited by 2,585

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A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles

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Paden, Brian, Cap, Michal, Yong, Sze Zheng, Yershov, Dmitry, Frazzoli, Emilio·2016·IEEE Transactions on Intelligent Vehicles

DOI 10.1109/tiv.2016.2578706

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Abstract

Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a self-driving vehicle include planning of motions through a dynamic environment shared with other vehicles and pedestrians, and their robust executions via feedback control. The objective of this paper is to survey the current state of the art on planning and control algorithms with particular regard to the urban setting. A selection of proposed techniques is reviewed along with a discussion of their effectiveness. The surveyed approaches differ in the vehicle mobility model used, in assumptions on the structure of the environment, and in computational requirements. The side by side comparison presented in this survey helps to gain insight into the strengths and limitations of the reviewed approaches and assists with system level design choices.

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Authors: Paden, B., Cap, M., Yong, S. Z., Yershov, D., & Frazzoli, E.
Venue: IEEE Transactions on Intelligent Vehicles
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Published: 2016-03
Volume: 1
Issue: 1
Pages: 33-55
ISSN: 2379-8858 (ISSN-L)
2379-8904
DOI: 10.1109/tiv.2016.2578706
OpenAlex: W2343568200
Cited by: 2,585
References: 7
FWCI: 108.16
Type: journal article
Language: en
Open access: green
Licence: ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html (vor)

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The paper: Paden, B., Cap, M., Yong, S. Z., Yershov, D., & Frazzoli, E. (2016). A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles. IEEE Transactions on Intelligent Vehicles. https://doi.org/10.1109/tiv.2016.2578706

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A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles

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