In this paper we propose a local trajectory planner for front steered car-like vehicles based on a combined direct optimization of the lateral and longitudinal vehicle guidance. The planner is designed for continuously optimizing a local trajectory based on a provided reference path in a structured or semi-structured driving environment. The planner respects constraints of the driving dynamics as well as actuator lim- itations and avoids static and dynamic obstacles. It is not restricted to a limited set of maneuvers. The implementation of the planner allows an online adaptation of the resulting driving behavior to satisfy different comfort or driving style demands. After Software-in-the-Loop simulations the algorithm was tested in two different real-world driving scenarios in ika’s automated vehicle which provides interfaces for full lateral and longitudinal control.


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    Titel :

    Trajectory optimization for Car-Like Vehicles in Structured and Semi-Structured Environments*


    Beteiligte:
    Nietzschmann, Clemens (Autor:in) / Klaudt, Sebastian (Autor:in) / Klas, Christoph (Autor:in) / Will, Devid (Autor:in) / Eckstein, Lutz (Autor:in)


    Erscheinungsdatum :

    2018-06-01


    Format / Umfang :

    3658655 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    TRAJECTORY OPTIMIZATION FOR CAR-LIKE VEHICLES IN STRUCTURED AND SEMI-STRUCTURED ENVIRONMENTS

    Nietzschmann, Clemens / Klaudt, Sebastian / Klas, Christoph et al. | British Library Conference Proceedings | 2018


    Situational awareness for unmanned ground vehicles in semi-structured environments [4715-22]

    Goodsell, T. G. / Snorrason, M. / Stevens, M. R. et al. | British Library Conference Proceedings | 2002


    Visual Servoing In Semi-Structured Outdoor Environments

    Rosenquist, Calle / Evesson, Andreas | BASE | 2007

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