Evaluating Location Compliance Approaches for Automated Road Vehicles

Alexander Zhu, Stefanie Manzinger, Matthias Althoff

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

This work presents techniques for efficiently checking location compliance of automated road vehicles. We refer to location compliance as an allowed translational and rotational positioning of a vehicle on a road network, i.e., the vehicle does not enter forbidden lanes or regions reserved for other traffic participants, such as bike lanes or dedicated bus routes. Previous work has mostly focused on efficient collision detection between traffic participants and static obstacles represented as bounded sets. We formulate location compliance as a set enclosure problem, which cannot be solved directly with collision detection; thus, different algorithms from computational geometry have to be applied. We present polygon enclosure and boundary mesh generation approaches and evaluate them using existing road geometries from the CommonRoad database. For a fair comparison, we generate thousands of random instances which are evaluated statistically.

Original languageEnglish
Title of host publication2018 IEEE Intelligent Vehicles Symposium, IV 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages642-649
Number of pages8
ISBN (Electronic)9781538644522
DOIs
StatePublished - 18 Oct 2018
Event2018 IEEE Intelligent Vehicles Symposium, IV 2018 - Changshu, Suzhou, China
Duration: 26 Sep 201830 Sep 2018

Publication series

NameIEEE Intelligent Vehicles Symposium, Proceedings
Volume2018-June

Conference

Conference2018 IEEE Intelligent Vehicles Symposium, IV 2018
Country/TerritoryChina
CityChangshu, Suzhou
Period26/09/1830/09/18

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