Vehicle Dynamics Trajectory Planning: Minimum Violation Planning Modifications Reducing Computational Time

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Vehicle Dynamics Trajectory Planning: Minimum Violation Planning Modifications Reducing Computational Time

Popis výsledku v původním jazyce

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

Název v anglickém jazyce

Vehicle Dynamics Trajectory Planning: Minimum Violation Planning Modifications Reducing Computational Time

Popis výsledku anglicky

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

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

<a href="/cs/project/GJ20-11626Y" target="_blank" >GJ20-11626Y: Koncept Koopmanova operátoru pro řízení komplexních nelineárních dynamických systémů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2023

Kód důvěrnosti údajů

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

Název statě ve sborníku

2023 SICE International Symposium on Control Systems

ISBN

978-4-907764-76-0

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

27-32

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Kusatsu

Datum konání akce

9. 3. 2023

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000982571700003