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Title:

Robust and Efficient Curvilinear Coordinate Transformation with Guaranteed Map Coverage for Motion Planning

Document type:
Konferenzbeitrag
Author(s):
Würsching, Gerald; Althoff, Matthias
Abstract:
Curvilinear coordinate frames are a widespread representation for motion planners of automated vehicles. In structured environments, the required reference path is often extracted from map data, e.g., by linearly interpolating the center points of lanes. Often, these reference paths are not directly suited for curvilinear frames, as the representation of points is not guaranteed to be unique for relevant parts of the road. Artifacts arising from faulty coordinate conversions can impede the robus...     »
Keywords:
autonomous driving, motion planning, curvilinear coordinate frames
Book / Congress title:
2024 IEEE Intelligent Vehicles Symposium (IV)
Year:
2024
Copyright statement:
© 2024 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
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