This paper considers the trajectory planning problem for an autonomous vehicle given uncertain knowledge about the surrounding environment. We propose to use evidential occupancy grid to deal with sensor uncertainties. Our aim is to develop a planning approach based on clothoid tentacles allowing a vehicle to move autonomously and safely in an environment which is not perfectly known. First, we generate a set of clothoid tentacles in the egocentered reference frame related to the vehicle, then we evaluate each tentacle using several criteria including occupancy criterion with evidential grid.
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