Motion Planning for Autonomous Driving: The State of the Art and Future Perspectives

doi:10.1109/TIV.2023.3274536

科研成果详情

题名	Motion Planning for Autonomous Driving: The State of the Art and Future Perspectives
作者	Teng，Siyu 1,2; Hu，Xuemin 3; Deng，Peng 3; Li，Bai 4,5; Li，Yuchen 1,2; Ai，Yunfeng 6; Yang，Dongsheng 7; Li，Lingxi 8; Xuanyuan，Zhe 1; Zhu，Fenghua 9; Chen，Long 9,10
发表日期	2023-06-01
发表期刊	IEEE Transactions on Intelligent Vehicles
卷号	8 期号:6 页码:3692-3711
摘要	Intelligent vehicles (IVs) have gained worldwide attention due to their increased convenience, safety advantages, and potential commercial value. Despite predictions of commercial deployment by 2025, implementation remains limited to small-scale validation, with precise tracking controllers and motion planners being essential prerequisites for IVs. This article reviews state-of-the-art motion planning methods for IVs, including pipeline planning and end-to-end planning methods. The study examines the selection, expansion, and optimization operations in a pipeline method, while it investigates training approaches and validation scenarios for driving tasks in end-to-end methods. Experimental platforms are reviewed to assist readers in choosing suitable training and validation strategies. A side-by-side comparison of the methods is provided to highlight their strengths and limitations, aiding system-level design choices. Current challenges and future perspectives are also discussed in this survey.
关键词	end-to-end planning imitation learning Motion planning parallel learning pipeline planning reinforcement learning
DOI	10.1109/TIV.2023.3274536
URL	查看来源
语种	英语English
Scopus入藏号	2-s2.0-85159838341
引用统计
文献类型	期刊论文
条目标识符	https://repository.uic.edu.cn/handle/39GCC9TT/11581
专题	北师香港浸会大学
通讯作者	Xuanyuan，Zhe
作者单位	1.BNU-HKBU United International College,Guangdong Provincial Key Lab of IRADS,Zhuhai,519087,China 2.Hong Kong Baptist University,Kowloon,999077,Hong Kong 3.Hubei University,School of Computer Science and Information Engineering,Wuhan,430062,China 4.State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body,Changsha,410082,China 5.Hunan University,College of Mechanical and Vehicle Engineering,Changsha,410082,China 6.University of Chinese Academy of Sciences,Beijing,100049,China 7.Jinan University,School of Public Management/Emergency Management,Guangzhou,510632,China 8.Indiana University-Purdue University Indianapolis,Purdue School of Engineering and Technology,Indianapolis,46202,United States 9.Chinese Academy of Sciences,Institute of Automation,Beijing,100190,China 10.Waytous Ltd.,China
第一作者单位	北师香港浸会大学
通讯作者单位	北师香港浸会大学
推荐引用方式 GB/T 7714	Teng，Siyu,Hu，Xuemin,Deng，Penget al. Motion Planning for Autonomous Driving: The State of the Art and Future Perspectives[J]. IEEE Transactions on Intelligent Vehicles, 2023, 8(6): 3692-3711.
APA	Teng，Siyu., Hu，Xuemin., Deng，Peng., Li，Bai., Li，Yuchen., .. & Chen，Long. (2023). Motion Planning for Autonomous Driving: The State of the Art and Future Perspectives. IEEE Transactions on Intelligent Vehicles, 8(6), 3692-3711.
MLA	Teng，Siyu,et al."Motion Planning for Autonomous Driving: The State of the Art and Future Perspectives". IEEE Transactions on Intelligent Vehicles 8.6(2023): 3692-3711.