Tuning and Costs Analysis for a Trajectory Planning Algorithm for Autonomous Vehicles

Abdallah Said, Abdallah Said, Reine Talj, Clovis Francis, Hassan Shraim

2022

Abstract

Trajectory planning is an essential issue for autonomous vehicles navigation. It represents a decision-making level that considers several constraints to be respected to navigate safely and comfortably in a dynamic environment. This paper presents a reactive trajectory planning, which consists to generates several candidate trajectories. Then, selecting the best trajectory among candidates is based on different criteria, each described by a cost function. Indeed, the algorithm aims to minimize a global cost function, a combination of several costs, to determine the best trajectory. The main objective of this work is to study the algorithm’s sensitivity against parameter tuning and to find a generic range of weighting coefficients for the cost function of the planning algorithm to make the algorithm as reliable as possible against various driving conditions.

Paper Citation

in Harvard Style

Said A., Talj R., Francis C. and Shraim H. (2022). Tuning and Costs Analysis for a Trajectory Planning Algorithm for Autonomous Vehicles. In Proceedings of the 8th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS, ISBN 978-989-758-573-9, pages 88-95. DOI: 10.5220/0011067700003191

in Bibtex Style

@conference{vehits22,
author={Abdallah Said and Reine Talj and Clovis Francis and Hassan Shraim},
title={Tuning and Costs Analysis for a Trajectory Planning Algorithm for Autonomous Vehicles},
booktitle={Proceedings of the 8th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,},
year={2022},
pages={88-95},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011067700003191},
isbn={978-989-758-573-9},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 8th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,
TI - Tuning and Costs Analysis for a Trajectory Planning Algorithm for Autonomous Vehicles
SN - 978-989-758-573-9
AU - Said A.
AU - Talj R.
AU - Francis C.
AU - Shraim H.
PY - 2022
SP - 88
EP - 95
DO - 10.5220/0011067700003191