Trajectory planning at high velocities and at the handling limits is a challenging task. In order to cope with the requirements of a race scenario, we propose a far-sighted two step, multi-layered graph-based trajectory planner, capable to run with speeds up to 212 km/h. The planner is designed to generate an action set of multiple drivable trajectories, allowing an adjacent behavior planner to pick the most appropriate action for the global state in the scene. This method serves objectives such as race line tracking, following, stopping, overtaking and a velocity profile which enables a handling of the vehicle at the limit of friction. Thereby, it provides a high update rate, a far planning horizon and solutions to non-convex scenarios. The capabilities of the proposed method are demonstrated in simulation and on a real race vehicle.


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    Title :

    Multilayer Graph-Based Trajectory Planning for Race Vehicles in Dynamic Scenarios


    Contributors:


    Publication date :

    2019-10-01


    Size :

    621376 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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