This paper explains a fast overtaking algorithm for IVHS based on clothoidal trajectories. In spite of the fact that clothoidal trajectory generation requires complicated computation of Fresnel integrals, in this paper, an on-line clothoidal path is obtained just by scaling a general parametric curve. This is based on a general offline approximation of the Fresnel integrals into Rational Bezier Curves (RBC) which are later used in the generation of on-line clothoidal paths. In addition, in order to obtain a fast algorithm, a new methodology to approximate the Fresnel integrals into RBC is proposed. This approach guarantees that the resulting curve has the same behavior than the clothoid. In particular for overtaking maneuvers, a clothoidal path composed of two equal elementary paths is generated. Each one constructed joining two piecewise identical clothoids. A 3D simulation environment has been used for testing the trajectory generation algorithm described in the paper. As can be seen, the obstacle avoidance module generates free-collision intermediate positions which are reached by clothoidal paths.
Trajectory Generation based on Rational Bezier Curves as Clothoids
2007 IEEE Intelligent Vehicles Symposium ; 505-510
2007-06-01
1017394 byte
Conference paper
Electronic Resource
English
Trajectory Generation Based on Rational Bezier Curves As Clothoids
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