Vehicle Dynamics Trajectory Planning: Minimum Violation Planning Modifications Reducing Computational Time
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F23%3A00365879" target="_blank" >RIV/68407700:21230/23:00365879 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.23919/SICEISCS57194.2023.10079204" target="_blank" >https://doi.org/10.23919/SICEISCS57194.2023.10079204</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.23919/SICEISCS57194.2023.10079204" target="_blank" >10.23919/SICEISCS57194.2023.10079204</a>
Alternative languages
Result language
angličtina
Original language name
Vehicle Dynamics Trajectory Planning: Minimum Violation Planning Modifications Reducing Computational Time
Original language description
State trajectory planning is recently one of the main challenges for self driving/autonomous vehicles technology. The Minimum Violation Planing (MVP) approach provides a reliable and user intuitive framework for states trajectory planning. It provides possibility of various logic constraints, boundary conditions, dynamic constraints, and many others. The MVP is revisited in this paper with a special focus on the time efficiency of the algorithm. Two modifications of the MVP reducing the calculation time while not significantly compromising the trajectory quality are proposed in this paper. The vehicle yaw, yaw rate, north and east position, velocity, and battery state of charge variables planning is selected to compare the proposed planning framework modifications. The presented modifications and the original MVP algorithm are compared in selected test scenario, where significant calculation time reduction is shown while the plan optimality is not affected remarkably
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20205 - Automation and control systems
Result continuities
Project
<a href="/en/project/GJ20-11626Y" target="_blank" >GJ20-11626Y: Koopman operator framework for control of complex nonlinear dynamical systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2023
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2023 SICE International Symposium on Control Systems
ISBN
978-4-907764-76-0
ISSN
—
e-ISSN
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Number of pages
6
Pages from-to
27-32
Publisher name
IEEE
Place of publication
Piscataway
Event location
Kusatsu
Event date
Mar 9, 2023
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000982571700003