Trajectory planning is commonly used as part of a local planner in autonomous driving. This paper considers the problem of planning a continuous-curvature-rate trajectory between fixed start and goal states that minimizes a tunable trade-off between passenger comfort and travel time. The problem is an instance of infinite dimensional optimization over two continuous functions: a path and a velocity profile. We propose a simplification of this problem that facilitates the discretization of both functions. This paper also proposes a method to quickly generate minimal-length paths between start and goal states based on a single tuning parameter: the second derivative of curvature. Further, we discretize the set of velocity profiles along a given path into a selection of longitudinal jerk way-points along the path. Finally, we repeatedly solve the path and velocity profiles in an iterative fashion. Numerical examples are provided to illustrate the benefits of the proposed methods.
Tunable Trajectory Planner Using G3 Curves
IEEE Transactions on Intelligent Vehicles ; 7 , 2 ; 273-285
01.06.2022
2577147 byte
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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