In this research, an optimal real-time trajectory planning method is proposed for autonomous ground vehicles in case of overtaking a moving obstacle. When an autonomous vehicle detects a moving vehicle ahead of it in a proper speed and distance and the braking is not efficient due to the lost of its kinematic energy, the autonomous vehicle decides to overtake the obstacle by performing a double lane-change maneuver. A two-phase nonlinear optimal problem is developed for generating the path for the overtaking maneuver. The cost function of the first phase is defined in such a way that the vehicle approaches the moving obstacle as close as possible. Besides, the cost function of the second phase is defined as the minimization of the sum of the vehicle lateral deviation from the reference path and the rate of steering angle during the overtaking maneuver while the lateral acceleration of the vehicle does not exceed a safe limit. For the real-time path planning of a vehicle with high speed, the result of solving the optimal path planning are stored in the look-up table form for offline use. A full nonlinear vehicle modeled in CarSim software is used for path tracking simulation. The simulation results show that the generated path for the autonomous vehicle satisfies all the vehicle dynamics constraints, therefore it is applicable for a real autonomous vehicle.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Optimal Real-Time Trajectory Planning of Autonomous Ground Vehicles for Overtaking Moving Obstacles


    Additional title:

    Sae Technical Papers


    Contributors:

    Conference:

    WCX™ 17: SAE World Congress Experience ; 2017



    Publication date :

    2017-03-28




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Optimal Real-Time Trajectory Planning of Autonomous Ground Vehicles for Overtaking Moving Obstacles

    Majidi, Majid / Arab, Majid / Tavoosi, Vahid | British Library Conference Proceedings | 2017




    Trajectory Planning of Autonomous Vehicles in Environments with Moving Obstacles

    Chou, J.-J. / Tasy, J. J. / IFAC | British Library Conference Proceedings | 1993


    Real-Time Trajectory Planning for Autonomous Aerospace Vehicles amidst Static Obstacles

    Zhao, Y. / Yang, I. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2002