Interactive path planning for teleoperated road vehicles in urban environments

Amin Hosseini, Thomas Wiedemann, Markus Lienkamp

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

21 Scopus citations

Abstract

Remote controlling of road vehicles in complex urban scenarios causes a high workload for human operators which may lead to stop-and-go driving behavior. This paper introduces a novel assistance system to improve the autonomy level of teleoperated driving, keeping human as the main decision maker in all driving tasks. The proposed system detects the hazardous driving commands of the operator which may lead to collisions, generates collision free paths using a LIDAR occupancy grid and returns them as feedback to the operator. For this purpose, a new hybrid path planning algorithm has been developed, which in the first phase searches all possible paths in the environment using a modified Rapidly-Exploring Random Tree (RRT) and in the second phase, optimizes the found and clustered paths using numerical approaches. Simulative and real driving tests confirm the capability of the proposed assistance system to support the human operator in complex driving tasks.

Original languageEnglish
Title of host publication2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages400-405
Number of pages6
ISBN (Electronic)9781479960781
DOIs
StatePublished - 14 Nov 2014
Event2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014 - Qingdao, China
Duration: 8 Oct 201411 Oct 2014

Publication series

Name2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014

Conference

Conference2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
Country/TerritoryChina
CityQingdao
Period8/10/1411/10/14

Keywords

  • Human-in-the-loop
  • LIDAR Occupancy Grid
  • Path Planning
  • RRT
  • Semi-autonomous Vehicle
  • UGV

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