Clothoid: An Integrated Hierarchical Framework for Autonomous Driving in a Dynamic Urban Environment
In recent years, research and development of autonomous driving technology have gained much interest. Many autonomous driving frameworks have been developed in the past. However, building a safely operating fully functional autonomous driving framework is still a challenge. Several accidents have be...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-09-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/20/18/5053 |
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| author | Saba Arshad Muhammad Sualeh Dohyeong Kim Dinh Van Nam Gon-Woo Kim |
| author_facet | Saba Arshad Muhammad Sualeh Dohyeong Kim Dinh Van Nam Gon-Woo Kim |
| author_sort | Saba Arshad |
| collection | DOAJ |
| description | In recent years, research and development of autonomous driving technology have gained much interest. Many autonomous driving frameworks have been developed in the past. However, building a safely operating fully functional autonomous driving framework is still a challenge. Several accidents have been occurred with autonomous vehicles, including Tesla and Volvo XC90, resulting in serious personal injuries and death. One of the major reasons is the increase in urbanization and mobility demands. The autonomous vehicle is expected to increase road safety while reducing road accidents that occur due to human errors. The accurate sensing of the environment and safe driving under various scenarios must be ensured to achieve the highest level of autonomy. This research presents Clothoid, a unified framework for fully autonomous vehicles, that integrates the modules of HD mapping, localization, environmental perception, path planning, and control while considering the safety, comfort, and scalability in the real traffic environment. The proposed framework enables obstacle avoidance, pedestrian safety, object detection, road blockage avoidance, path planning for single-lane and multi-lane routes, and safe driving of vehicles throughout the journey. The performance of each module has been validated in K-City under multiple scenarios where Clothoid has been driven safely from the starting point to the goal point. The vehicle was one of the top five to successfully finish the autonomous vehicle challenge (AVC) in the Hyundai AVC. |
| first_indexed | 2024-03-10T16:32:44Z |
| format | Article |
| id | doaj.art-56ca3c7e8e6a4657a9b685e79f965a46 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T16:32:44Z |
| publishDate | 2020-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-56ca3c7e8e6a4657a9b685e79f965a462023-11-20T12:42:37ZengMDPI AGSensors1424-82202020-09-012018505310.3390/s20185053Clothoid: An Integrated Hierarchical Framework for Autonomous Driving in a Dynamic Urban EnvironmentSaba Arshad0Muhammad Sualeh1Dohyeong Kim2Dinh Van Nam3Gon-Woo Kim4Intelligent Robots Laboratory, Department of Control and Robot Engineering, Chungbuk National University, Cheongju-si 28644, KoreaIntelligent Robots Laboratory, Department of Control and Robot Engineering, Chungbuk National University, Cheongju-si 28644, KoreaIntelligent Robots Laboratory, Department of Control and Robot Engineering, Chungbuk National University, Cheongju-si 28644, KoreaIntelligent Robots Laboratory, Department of Control and Robot Engineering, Chungbuk National University, Cheongju-si 28644, KoreaIntelligent Robots Laboratory, Department of Control and Robot Engineering, Chungbuk National University, Cheongju-si 28644, KoreaIn recent years, research and development of autonomous driving technology have gained much interest. Many autonomous driving frameworks have been developed in the past. However, building a safely operating fully functional autonomous driving framework is still a challenge. Several accidents have been occurred with autonomous vehicles, including Tesla and Volvo XC90, resulting in serious personal injuries and death. One of the major reasons is the increase in urbanization and mobility demands. The autonomous vehicle is expected to increase road safety while reducing road accidents that occur due to human errors. The accurate sensing of the environment and safe driving under various scenarios must be ensured to achieve the highest level of autonomy. This research presents Clothoid, a unified framework for fully autonomous vehicles, that integrates the modules of HD mapping, localization, environmental perception, path planning, and control while considering the safety, comfort, and scalability in the real traffic environment. The proposed framework enables obstacle avoidance, pedestrian safety, object detection, road blockage avoidance, path planning for single-lane and multi-lane routes, and safe driving of vehicles throughout the journey. The performance of each module has been validated in K-City under multiple scenarios where Clothoid has been driven safely from the starting point to the goal point. The vehicle was one of the top five to successfully finish the autonomous vehicle challenge (AVC) in the Hyundai AVC.https://www.mdpi.com/1424-8220/20/18/5053autonomous vehicleHD maplocalizationperceptionpath planningV2X |
| spellingShingle | Saba Arshad Muhammad Sualeh Dohyeong Kim Dinh Van Nam Gon-Woo Kim Clothoid: An Integrated Hierarchical Framework for Autonomous Driving in a Dynamic Urban Environment Sensors autonomous vehicle HD map localization perception path planning V2X |
| title | Clothoid: An Integrated Hierarchical Framework for Autonomous Driving in a Dynamic Urban Environment |
| title_full | Clothoid: An Integrated Hierarchical Framework for Autonomous Driving in a Dynamic Urban Environment |
| title_fullStr | Clothoid: An Integrated Hierarchical Framework for Autonomous Driving in a Dynamic Urban Environment |
| title_full_unstemmed | Clothoid: An Integrated Hierarchical Framework for Autonomous Driving in a Dynamic Urban Environment |
| title_short | Clothoid: An Integrated Hierarchical Framework for Autonomous Driving in a Dynamic Urban Environment |
| title_sort | clothoid an integrated hierarchical framework for autonomous driving in a dynamic urban environment |
| topic | autonomous vehicle HD map localization perception path planning V2X |
| url | https://www.mdpi.com/1424-8220/20/18/5053 |
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