Spline-Based Motion Planning for Automated Driving

被引：10

作者：

Goette, Christian ^{[1
]}

Keller, Martin ^{[1
]}

Nattermann, Till ^{[2
]}

Hass, Carsten ^{[2
]}

Glander, Karl-Heinz ^{[2
]}

Bertram, Torsten ^{[1
]}

机构：

[1] TU Dortmund Univ, Inst Control Theory & Syst Engn, D-44227 Dortmund, Germany

[2] ZF TRW, Act & Pass Safety Technol, D-40547 Dusseldorf, Germany

来源：

IFAC PAPERSONLINE | 2017年 / 50卷 / 01期

关键词：

optimal trajectory; trajectory planning; automated driving; vehicles; optimization;

D O I：

10.1016/j.ifacol.2017.08.1709

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper at hand proposes an efficient trajectory planning approach for automated vehicles. The concept of potential field based online trajectory optimization is enhanced by a spline-based interpolation strategy, valid for normal driving functions. The resulting benefits of the developed Timed Elastic Spline (TES) approach concern improvements in computational efficiency and faster convergence and thus effect the computation time. An optimization algorithm is applied to generate the optimal trajectory considering the objectives of collision avoidance and comfort. The results show the performance of the developed algorithm, which is designed to solve a broad range of traffic scenarios. Additionally measurements indicate that the algorithm is suitable for real time application. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：9114 / 9119

页数：6

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