Graph-based trajectory planning algorithms such as A*, Dijkstra or RRT use motion primitives to generate obstacle-free trajectories. A common method is the use of piecewise constant acceleration profiles along these primitives to avoid high computational complexity. However, the resulting trajectories can be uncomfortable to drive for the passengers due to the abrupt changes in the acceleration. In this paper, we present three different methods to smoothen given trajectories which are discontinuous in their acceleration profile, while complying with the given lengths as well as times. Due to the latter, safety is still guaranteed while the driving comfort is increased. Our approach allows to decrease the complexity of the trajectory-generation problem by relaxing the driving-comfort requirements on the initial creation and shifting it to a second smoothing step.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Spatiotemporally Consistent Smooth Speed Profiles for Autonomous Driving


    Beteiligte:


    Erscheinungsdatum :

    01.11.2018


    Format / Umfang :

    639451 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Driving Speed Profiles for Autonomous Vehicles

    Anastassov, Anton / Jang, Dongwook / Giurgiu, Gavril | British Library Conference Proceedings | 2017


    Driving speed profiles for autonomous vehicles

    Anastassov, Anton / Jang, Dongwook / Giurgiu, Gavril | IEEE | 2017


    Constraint on Linear, Spatiotemporally Nonlocal, Spatiotemporally Nonhomogeneous Constitutive Relations

    Lakhtakia, A. / Weiglhofer, W. S. | British Library Online Contents | 1996


    Driving profiles for autonomous vehicles

    SCOFIELD CHRISTOPHER L / SEDLIK SCOTT | Europäisches Patentamt | 2019

    Freier Zugriff

    DRIVING PROFILES FOR AUTONOMOUS VEHICLES

    SCOFIELD CHRISTOPHER / SEDLIK SCOTT | Europäisches Patentamt | 2018

    Freier Zugriff