Optimal Trajectory Generation for Autonomous Vehicles Under Centripetal Acceleration Constraints for In-lane Driving Scenarios
Optimal Trajectory Generation for Autonomous Vehicles Under Centripetal Acceleration Constraints for In-lane Driving Scenarios
复制标题
车道内驾驶场景向心加速度约束下自动驾驶车辆的最优轨迹生成
DOI：
10.1109/itsc.2019.8916917
复制
发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Jinghao Miao
中科院分区：
文献类型：
--
作者：
Yajia Zhang;Hongyi Sun;Jinyun Zhou;Jiangtao Hu;Jinghao Miao
本文提出了一种新的方法，生成最佳轨迹的自动驾驶车辆在车道内行驶的情况下。该方法使用两阶段优化过程来计算轨迹。在第一阶段，优化过程产生一个封闭形式的驾驶指导线与可重构的曲率。在第二阶段，该程序以行驶引导线为输入，输出车辆沿着引导线行驶的动态可行、加加速度和时间最优轨迹。该方法对于在弯曲道路上生成轨迹特别有用，其中车辆需要施加频繁的加速和减速以适应向心加速度限制。
This paper presents a noval method that generates optimal trajectories for autonomous vehicles for in-lane driving scenarios. The method computes a trajectory using a two-phase optimization procedure. In the first phase, the optimization procedure generates a close-form driving guide line with differetiable curvatures. In the second phase, the procedure takes the driving guide line as input, and outputs dynamically feasible, jerk and time optimal trajectories for vehicles driving along the guide line. This method is especially useful for generating trajectories at curvy road where the vehicles need to apply frequent accelerations and decelerations to accommodate centripetal acceleration limits.
DOI：
10.1109/mits.2014.2306552
发表时间：
2014-06-01
影响因子：
3.6
作者：
Ziegler, Julius;Bender, Philipp;Zeeb, Eberhard
通讯作者：
Zeeb, Eberhard