The dynamic trajectory planning problem for automatic vehicles in complex traffic scenarios is investigated in this paper. A hierarchical motion planning framework is developed to complete the complex planning task. An improved dangerous potential field in the curvilinear coordinate system is constructed to describe the collision risk of automatic vehicles accurately instead of the discrete Gaussian convolution algorithm. At the same time, the driving comfort is also considered in order to generate an optimal, smooth, collision-free and feasible path in dynamics. The optimal path can be mapped into the Cartesian coordinate system simply and conveniently. Furthermore, a velocity profile considering practical vehicle dynamics is also presented to improve the safety and the comfort in driving. The effectiveness of the proposed dynamic trajectory planning is verified by numerical simulation for several typical traffic scenarios.
A Dynamic Trajectory Planning for Automatic Vehicles Based on Improved Discrete Optimization Method
Sae Technical Papers
WCX SAE World Congress Experience ; 2020
2020-04-14
Conference paper
English
A Dynamic Trajectory Planning for Automatic Vehicles Based on Improved Discrete Optimization Method
British Library Conference Proceedings | 2020
|A Dynamic Trajectory Planning for Automatic Vehicles Based on Improved Discrete Optimization Method
British Library Conference Proceedings | 2020
|