Minimizing long vehicles overhang exceeding the drivable surface via convex path optimization
| Autor: | Pedro F. Lima, Jonas Mårtensson, Rui Oliveira, Bo Wahlberg |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
Optimization
0209 industrial biotechnology Vehicle Engineering Chassis Computer science Frame (networking) Regular polygon 02 engineering and technology Control Engineering Farkostteknik Autonomous Driving Wheelbase Vehicle engineering 020901 industrial engineering & automation Reglerteknik Control theory Path (graph theory) Convex optimization 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Motion planning Path planning |
| Zdroj: | ITSC |
| DOI: | 10.1109/itsc.2017.8317754 |
| Popis: | This paper presents a novel path planning algo- rithm for on-road autonomous driving. The algorithm targets long and wide vehicles, in which the overhangs (i.e., the vehicle chassis extending beyond the front and rear wheelbase) can endanger other vehicles, pedestrians, or even the vehicle itself. The vehicle motion is described in a road-aligned coordinate frame. A novel method for computing the vehicle limits is proposed guaranteeing feasibility of the planned path when con- verted back into the original coordinate frame. The algorithm is posed as a convex optimization that takes into account the exact dimensions of the vehicle and the road, while minimizing the amount of overhang outside of the drivable surface. The results of the proposed algorithm are compared in a simulation of a real road scenario against a centerline tracking scheme. The results show a significant decrease on the amount of overhang area outside of the drivable surface, leading to an increased safety in driving maneuvers. The real-time applicability of the method is shown, by using it in a receding- horizon framework. QC 20180119 |
| Databáze: | OpenAIRE |
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