Cone Slalom With Automated Sports Car–Trajectory Planning Algorithm

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Cone Slalom With Automated Sports Car–Trajectory Planning Algorithm

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Cone Slalom With Automated Sports Car–Trajectory Planning Algorithm

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/GA22-31670S" target="_blank" >GA22-31670S: Rozvrhování prováděných testů ve zdravotnických laboratořích: zkrácení doby dodání výsledku</a><br>

Návaznosti

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

Rok uplatnění

2024

Kód důvěrnosti údajů

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

Název periodika

IEEE Transactions on Vehicular Technology

ISSN

0018-9545

e-ISSN

1939-9359

Svazek periodika

73

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

13

Strana od-do

362-374

Kód UT WoS článku

001166813500025

EID výsledku v databázi Scopus

2-s2.0-85169704050