Feasible And Optimal Trajectories Generation for Autonomous Driving Vehicles

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F46747885%3A24220%2F23%3A00011190" target="_blank" >RIV/46747885:24220/23:00011190 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/46747885:24620/23:00011190

Výsledek na webu

<a href="https://www.actapress.com/Abstract.aspx?paperId=55380" target="_blank" >https://www.actapress.com/Abstract.aspx?paperId=55380</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.2316/J.2023.201-0286" target="_blank" >10.2316/J.2023.201-0286</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Feasible And Optimal Trajectories Generation for Autonomous Driving Vehicles

Popis výsledku v původním jazyce

Real-time feasible and optimal trajectory generation subject to the vehicle physical constraints, the surrounding obstacles, and the environmental conditions is one of the most important parts of autonomous driving vehicles. This study presents three smooth and fast trajectories generations for autonomous driving vehicles subject to the vehicle physical constraints on speed, acceleration, and steering angle as well as the hard physical limitations of the vehicle speed and the vehicle steering angle. In vehicle safety dynamics, the vehicle steering angle and the vehicle speed are always related in a strict function depending on the surrounding obstacles and the environmental conditions. Three different methods for vehicle feasible trajectory planning generation are introduced and compared. The optimal feasible trajectory is selected based on the smoother curve, the shorter distance, and the smaller tracking errors. Results from this study can be used for online autonomous driving vehicle and for autonomous parking systems. This study provides fundamental mathematical algorithms to online map out optimal feasible paths for ground autonomous vehicles.

Název v anglickém jazyce

Feasible And Optimal Trajectories Generation for Autonomous Driving Vehicles

Popis výsledku anglicky

Real-time feasible and optimal trajectory generation subject to the vehicle physical constraints, the surrounding obstacles, and the environmental conditions is one of the most important parts of autonomous driving vehicles. This study presents three smooth and fast trajectories generations for autonomous driving vehicles subject to the vehicle physical constraints on speed, acceleration, and steering angle as well as the hard physical limitations of the vehicle speed and the vehicle steering angle. In vehicle safety dynamics, the vehicle steering angle and the vehicle speed are always related in a strict function depending on the surrounding obstacles and the environmental conditions. Three different methods for vehicle feasible trajectory planning generation are introduced and compared. The optimal feasible trajectory is selected based on the smoother curve, the shorter distance, and the smaller tracking errors. Results from this study can be used for online autonomous driving vehicle and for autonomous parking systems. This study provides fundamental mathematical algorithms to online map out optimal feasible paths for ground autonomous vehicles.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

—

Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2023

Kód důvěrnosti údajů

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

Název periodika

Mechatronic systems and control

ISSN

2561-1771

e-ISSN

—

Svazek periodika

51

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

CA - Kanada

Počet stran výsledku

14

Strana od-do

11-24

Kód UT WoS článku

001021517200002

EID výsledku v databázi Scopus

2-s2.0-85153387567