A Real-Time Dynamic Trajectory Planning for Autonomous Driving Vehicles

被引：0
|
作者：
Wang, Mingqiang [1 ,2 ]
Zhang, Lei [1 ,2 ]
Wang, Zhenpo [1 ,2 ]
Sai, Yinghui [3 ]
Chu, Yafeng [3 ]
机构：
[1] Beijing Inst Technol, Natl Engn Lab Elect Vehicles, Beijing, Peoples R China
[2] Beijing Inst Technol, Collaborat Innovat Ctr Elect Vehicles Beijing, Beijing, Peoples R China
[3] Chery Automobile Co Ltd, Wuhu, Peoples R China
来源：
2019 3RD CONFERENCE ON VEHICLE CONTROL AND INTELLIGENCE (CVCI) | 2019年
关键词：
autonomous driving vehicle; trajectory planning; path generation; speed generation; obstacle avoidance; AVOIDANCE;
D O I：
10.1109/cvci47823.2019.8951735
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a real-time dynamic trajectory planning algorithm that provides an optimal trajectory along with appropriate acceleration and speed for autonomous driving vehicles. To this end, a center line is first constructed based on a group of predesigned center waypoints that are generally used as a reference line. Then, a limited number of path candidates are generated by the arc length and offset to the center line in the Frenet coordinate system, and the speed space is discretized using polynomial functions. The optimal path trajectory is determined considering the objectives of safety, smoothness, comfortability and consistency, together with the associated acceleration and speed identified. The simulation results verifies the effectiveness of the proposed approach.
引用
收藏
页码：359 / 364
页数：6
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