Trajectory Planning for Automated Vehicles in Overtaking Scenarios
| Autor: | Oliver Speidel, Klaus Dietmayer, Maximilian Graf |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Computer science 020302 automobile design & engineering 02 engineering and technology Kinematics Optimal control Field (computer science) Task (project management) Computer Science::Robotics 020901 industrial engineering & automation 0203 mechanical engineering Control theory Trajectory planning Overtaking 11. Sustainability Trajectory State (computer science) |
| Zdroj: | 2019 IEEE Intelligent Vehicles Symposium (IV). |
| Popis: | Overtaking is a challenging task in the field of autonomous driving, especially on roads with an opposite lane and oncoming vehicles. Since trajectory planning is repeated cyclic it is highly important to trigger the maneuver only if it is guaranteed that collision-free trajectories that satisfy kinematic constraints exist at each planning step. The goal of this paper is to present an algorithm for planning overtaking trajectories on large temporal horizons in real-time. The main idea is as follows: once overtaking is desired by the behavior module an initial trajectory is simulated using a path tracking control algorithm for lane changing combined with a classical PI-controller for approaching the target speed. The controllers are parametrized in a way that the simulated trajectory will satisfy kinematic constraints. If no collisions are detected a corridor containing the simulated trajectory is created to state constraints for a subsequent optimal control problem to relax the trajectory and smooth it to be comfortable to the vehicle passengers. |
| Databáze: | OpenAIRE |
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