Feasible Trajectories Generation for Autonomous Driving Vehicles

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F46747885%3A24210%2F21%3A00009031" target="_blank" >RIV/46747885:24210/21:00009031 - isvavai.cz</a>

Alternative codes found

RIV/46747885:24220/21:00009031 RIV/46747885:24620/21:00009031

Result on the web

<a href="https://www.mdpi.com/2076-3417/11/23/11143" target="_blank" >https://www.mdpi.com/2076-3417/11/23/11143</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/app112311143" target="_blank" >10.3390/app112311143</a>

Result language

angličtina

Original language name

Feasible Trajectories Generation for Autonomous Driving Vehicles

Original language description

This study presents smooth and fast feasible trajectory generation for autonomous driving vehicles subject to the vehicle physical constraints on the vehicle power, speed, acceleration as well as the hard limitations of the vehicle steering angle and the steering angular speed. This is due to the fact the vehicle speed and the vehicle steering angle are always in a strict relationship for safety purposes, depending on the real vehicle driving constraints, the environmental conditions, and the surrounding obstacles. Three different methods of the position quintic polynomial, speed quartic polynomial, and symmetric polynomial function for generating the vehicle trajectories are presented and illustrated with simulations. The optimal trajectory is selected according to three criteria: Smoother curve, smaller tracking error, and shorter distance. The outcomes of this paper can be used for generating online trajectories for autonomous driving vehicles and auto-parking systems.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

21100 - Other engineering and technologies

Project

<a href="/en/project/EF16_025%2F0007293" target="_blank" >EF16_025/0007293: Modular platform for autonomous chassis of specialized electric vehicles for freight and equipment transportation</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year

2021

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Applied Sciences

ISSN

2076-3417

e-ISSN

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Volume of the periodical

11

Issue of the periodical within the volume

23

Country of publishing house

CH - SWITZERLAND

Number of pages

19

Pages from-to

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UT code for WoS article

000743157600001

EID of the result in the Scopus database

2-s2.0-85119974365