Autonomous Vehicle Trajectory Planning under Uncertainty Using Stochastic Collocation

Hong Fu Liu; Yu Zhang; Shao Fei Chen; Jing Chen

doi:10.4028/www.scientific.net/AMR.580.175

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 580Autonomous Vehicle Trajectory Planning under...

Autonomous Vehicle Trajectory Planning under Uncertainty Using Stochastic Collocation

Abstract:

We propose a framework based on stochastic collocation to solve autonomous vehicle optimal trajectory planning problems with probabilistic uncertainty. We model uncertainty from the location and size of obstacles. We develop stochastic pseudospectral methods to solve the minimum expectation cost of differential equation, which meets path, control, and boundary constraints. Results are shown on two examples of autonomous vehicle trajectory planning under uncertainty, which illustrated the feasibility and applicability of our method.

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Periodical:

Advanced Materials Research (Volume 580)

Pages:

175-179

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.580.175

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Online since:

October 2012

Authors:

Hong Fu Liu, Yu Zhang, Shao Fei Chen, Jing Chen

Keywords:

Autonomous Vehicle, Stochastic Collocation, Trajectory Planning, Uncertainty

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