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• W2011053498 abstract "At intersections and in merging traffic, intelligent road vehicles must solve challenging optimal control problems in real-time to navigate reliably around moving obstacles. We present a complete planner that computes collision-free, optimal longitudinal control sequences (acceleration and braking) using a novel visibility graph approach that analytically computes the reachable subset of path-velocity-time space. We demonstrate that our method plans over an order of magnitude faster than previous approaches, making it scalable and fast enough (tenths of a second on a PC) to be called repeatedly on-line. We demonstrate applications to autonomous driving and vehicle collision warning systems with many moving obstacles." @default.
• W2011053498 created "2016-06-24" @default.
• W2011053498 creator A5027878263 @default.
• W2011053498 creator A5050425128 @default.
• W2011053498 date "2013-06-01" @default.
• W2011053498 modified "2023-09-24" @default.
• W2011053498 title "Optimal longitudinal control planning with moving obstacles" @default.
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• W2011053498 doi "https://doi.org/10.1109/ivs.2013.6629533" @default.
• W2011053498 hasPublicationYear "2013" @default.
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