Feasible Trajectories Generation for Autonomous Driving Vehicles

Kód výsledku v 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>

Nalezeny alternativní kódy

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

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Feasible Trajectories Generation for Autonomous Driving Vehicles

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Feasible Trajectories Generation for Autonomous Driving Vehicles

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

21100 - Other engineering and technologies

Projekt

<a href="/cs/project/EF16_025%2F0007293" target="_blank" >EF16_025/0007293: Modulární platforma pro autonomní podvozky specializovaných elektrovozidel pro dopravu nákladu a zařízení</a><br>

Návaznosti

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

Rok uplatnění

2021

Kód důvěrnosti údajů

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

Název periodika

Applied Sciences

ISSN

2076-3417

e-ISSN

—

Svazek periodika

11

Číslo periodika v rámci svazku

23

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

19

Strana od-do

—

Kód UT WoS článku

000743157600001

EID výsledku v databázi Scopus

2-s2.0-85119974365