2021
DOI: 10.2478/ttj-2021-0021
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Trajectory Planning of Autonomous Vehicle in Freeway Driving

Abstract: This paper describes trajectory planning for an Autonomous Vehicle (AV) in the freeway path. Three types of driving modes are analyzed. First was free flow, this constitutes that moving at the desired speed is determined at the beginning of the movement. Second case was car following, when overtaking or lane-change was impossible, distance or speed adaptation is executed using the variable acceleration/deceleration strategy. Third case was lane change or overtaking. For lane change or overtaking paths, the 5th… Show more

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Cited by 2 publications
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“…In order to improve the safety of lane change obstacle avoidance, the obstacle avoidance function is introduced, the anti-collision condition is established, and the trajectory is planned by quintic fitting polynomial [1] .…”
Section: Design Obstacle Avoidance Path Planning Controllermentioning
confidence: 99%
“…In order to improve the safety of lane change obstacle avoidance, the obstacle avoidance function is introduced, the anti-collision condition is established, and the trajectory is planned by quintic fitting polynomial [1] .…”
Section: Design Obstacle Avoidance Path Planning Controllermentioning
confidence: 99%