On path planning methods for automotive collision avoidance

Abstract

There is a strong trend for increasingly sophisticated Advanced Driver Assistance Systems (ADAS) such as Autonomous Emergency Braking (AEB) systems, Lane Keeping Aid (LKA) systems, and indeed autonomous driving. This trend generates a need for online maneuver generation, for which numerous approaches can be found in the large body of work related to path planning and obstacle avoidance. In order to ease the challenge of choosing a method, this paper reports quantitative and qualitative insights about three different path planning methods: a state lattice planner, predictive constraint-based planning, and spline-based search tree. Each method is described, implemented and compared on two specific traffic situations. The paper will not provide a final answer about which method is best. This depends on several factors such as computational constraints and the formulation of maneuver optimality that is appropriate for a given assistance or safety function. Instead, the conclusions will highlight qualitative merits and drawbacks for each method, in order to provide guidance for choosing a method for a specific application.