Cone Slalom With Automated Sports Car–Trajectory Planning Algorithm

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F24%3A00367823" target="_blank" >RIV/68407700:21730/24:00367823 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/TVT.2023.3309554" target="_blank" >https://doi.org/10.1109/TVT.2023.3309554</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/TVT.2023.3309554" target="_blank" >10.1109/TVT.2023.3309554</a>

Result language
angličtina
Original language name
Cone Slalom With Automated Sports Car–Trajectory Planning Algorithm
Original language description
In this paper, we present the system architecture and algorithms of an automated vehicle to perform a slalom. We demonstrate a novel trajectory planning algorithm based on optimization techniques using logic-based Benders de-composition, where an external loop optimizes the position of the nearest waypoint and an internal loop generates the optimal trajectory. The positions of the cones in this use case are unknown, but a mono camera and LiDAR detect them. They can be in a line or dispersed, have equal or unequal spacing, and the U-turns can be symmetric or asymmetric. A bicycle model is used to formulate a non-linear quadratic optimization problem aimed at optimal trajectory generation considering vehicle kinematics. Finally, the trajectory tracking control keeps the vehicle on the planned slalom trajectory while driving. The control system is interfaced with the vehicle via CAN and FlexRay buses. Much of the work was devoted to experiments with a real vehicle and fine-tuning the system parameters. During the validation of the system, interesting observations were made regarding the components' precision, frequency, and sensitivity.
Czech name
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Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project
<a href="/en/project/GA22-31670S" target="_blank" >GA22-31670S: Scheduling Tests in Medical Laboratories: Reduction of Turn-Around Time</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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