Driving on the limits of vehicle dynamics requires predictive planning of future vehicle states. In this work, a search-based motion planning is used to generate suitable reference trajectories of dynamic vehicle states with the goal to achieve the minimum lap time on slippery roads. The search-based approach enables to explicitly consider a nonlinear vehicle dynamics model as well as constraints on states and inputs so that even challenging scenarios can be achieved in a safe and optimal way. The algorithm performance is evaluated in simulated driving on a track with segments of different curvatures. Our code is available at https://git.io/JenvB.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Search-Based Motion Planning for Performance Autonomous Driving


    Weitere Titelangaben:

    Lect.Notes Mechanical Engineering


    Beteiligte:
    Klomp, Matthijs (Herausgeber:in) / Bruzelius, Fredrik (Herausgeber:in) / Nielsen, Jens (Herausgeber:in) / Hillemyr, Angela (Herausgeber:in) / Ajanovic, Zlatan (Autor:in) / Regolin, Enrico (Autor:in) / Stettinger, Georg (Autor:in) / Horn, Martin (Autor:in) / Ferrara, Antonella (Autor:in)

    Kongress:

    The IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks ; 2019 ; Gothenburg, Sweden August 12, 2019 - August 16, 2019



    Erscheinungsdatum :

    13.02.2020


    Format / Umfang :

    11 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Search-Based Motion Planning for Performance Automonom Driving

    Ajanovic, Zlatan / Regolin, Entrico / Stettinger, Georg et al. | TIBKAT | 2020


    Autonomous Driving Motion Planning With Constrained Iterative LQR

    Chen, Jianyu / Zhan, Wei / Tomizuka, Masayoshi | IEEE | 2019


    MULTIMODAL MOTION PLANNING FRAMEWORK FOR AUTONOMOUS DRIVING VEHICLES

    ZHANG YAJIA / LI DONG / ZHANG LIANGLIANG et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    RUNTIME-BOUNDED TUNABLE MOTION PLANNING FOR AUTONOMOUS DRIVING

    Gu, Tianyu / Dolan, John M. / Lee, Jin-Woo | British Library Conference Proceedings | 2016