Trajectory Planning with Velocity Planner for Fully-Automated Passenger Vehicles

Șolea, Răzvan; Nunes, Urbano

doi:10.1109/itsc.2006.1706786

Cited by 56 publications

(35 citation statements)

References 8 publications

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“…The follow-up TADPF controller was presented in ( [3]) and modified here to account for driving comfort based on lateral acceleration constraints of the vehicle, which affects primarily the longitudinal velocity profile of the vehicle. A comparison is made on the path following precision and steering control effort with the SMPF controller presented in [5]. A novel combination of the TADPF controller and the SMPF controller for path following is proposed which enables collision-free navigation along the global path with directly taking into account the dynamic limits of the vehicle.…”

Section: ([1]) or Field-d ([2])mentioning

confidence: 99%

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Path Following for Autonomous Vehicle Navigation Based on Kinodynamic Control

Maček¹,

Philippsen²,

Siegwart³

2009

CIT

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This paper addresses the problem of path following for mobile robots with particular emphasis on integrating the global path planning, path following and a collision avoidance scheme in a unified framework. Whereas the traditional path following algorithms aim at minimizing an error function with respect to a given path and kinematic and/or dynamic model of the robot, the problem of collision avoidance is often neglected or simply cast to the replanning phase of the global planner which issues the given path. Such approaches that do not check explicitly for collision for the given state of the ego-robot and the environment can easily lead to hazardous situations, in particular if latencies are present in the global path planning phase. In order to address obstacle avoidance directly, a navigation framework is presented here that combines a path following control scheme to attain a global objective with a collision checking scheme that incrementally builds collision-free trajectories, thus ensuring ego-robot safety at all times, with respect to the partially known static environment obstacles and kinodynamic limitations of the ego-robot itself. Two novel path following schemes are presented, namely the Traversability-anchored Dynamic Path Following (TADPF) and a combined TADPF-Sliding Mode Path Following (SMPF), based on a previously developed SMPF technique. The two path following schemes have been verified both in simulation and experimentally on a test Ackermann-like vehicle.

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Section: ([1]) or Field-d ([2])mentioning

confidence: 99%

“…It was proven in [5] by Lyapunov analysis that it suffices for the control law to be stable that Q, P ≥ 0. Note also that the longitudinal velocity v l in this case is not controlled, but is given as an input parameter to the control law of Eq.…”

Section: Sliding Mode Path Following (Smpf) Controllermentioning

confidence: 99%

Path Following for Autonomous Vehicle Navigation Based on Kinodynamic Control

Maček¹,

Philippsen²,

Siegwart³

2009

CIT

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“…Therefore, in this paper, we develop the speed control method by generating the longitudinal speed pattern using the jerk which is time derivative of the acceleration and the acceleration as the evaluation index, for improving the ride comfort against the longitudinal acceleration/deceleration. The method is applying the general optimal control theory and also based on the techniques proposed in [10] [11] [12] [13]. The method aims to contribute to improve the beginner driver's driving skill from the viewpoint of passenger's comfortability by showing the ideal running pattern and checking the driving.…”

Section: Introductionmentioning

confidence: 99%

Speed Control Method of Electric Vehicle for Improving Passenger Ride Quality

Fuse¹,

Kawabe²,

Kawamoto³

2017

ICA

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This paper proposes the new speed control method of electric vehicles by generating the longitudinal speed pattern for improving the ride comfort against the longitudinal acceleration/deceleration. Since the longitudinal acceleration/ deceleration of EVs causes the discomfort of passengers, reducing such bad effect of acceleration/deceleration acting on passengers is very important for not only the ride comfort of passengers but also vehicle running safety. The proposed method is applying the general optimal control theory and it generates the speed pattern for improving the passenger ride quality based on evaluating the variations of acceleration and the jerk which is time derivative of the acceleration. The effectiveness of the present method is demonstrated through numerical experiments compared with some conventional methods.

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“…However, the solution was limited only for the lane change maneuver example. For the path following issues, [13] produces a smooth trajectory in the respect to the standard human comfort while following the trajectory using sliding mode control. The trajectory comes from the predefined quintic polynomial but, the presented results have different steering angle discontinuous.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, the proposed pCCP algorithm could be useful for making a reference path or reconstructing one from an already obtained raw data in the global frame work [8,13]. To validate the reliability of the obtained paths, these path was followed by a robot while using Lyapunov based controller [18,19].…”

Section: Introductionmentioning

confidence: 99%

Parametric Continuous Curvature Path for Smooth Steering with Car-like Vehicles

Gim

Adouane

Lee

et al. 2015

Intelligent Autonomous Systems 13

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Abstract. This paper proposes a solution to obtain parametric continuous curvature path for nonholonomic car-like vehicle and addresses also efficient algorithm to obtain an appropriate reference path for smooth path following. As a local planner using parametrically adjustable clothoid, the proposed solution, of constant sharpness, permits to obtain continuous curvature and thus smooth steering behavior of the vehicle which enhances the passenger comfort. The proposed parametric continuous curvature path is integrated in a global planner which includes an appropriate way of isolating the boundary conditions of each local planner. This last characteristic is useful to reconstruct a smooth reference path from raw data of actual vehicle trajectory. The solution is applied to a real road datasets and tested using Lyapunov based controller for validating the effectiveness on path following performance. The simulated results show reliable and enhanced performance for vehicle path following when the proposed algorithms are used.

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Trajectory Planning with Velocity Planner for Fully-Automated Passenger Vehicles

Cited by 56 publications

References 8 publications

Path Following for Autonomous Vehicle Navigation Based on Kinodynamic Control

Path Following for Autonomous Vehicle Navigation Based on Kinodynamic Control

Speed Control Method of Electric Vehicle for Improving Passenger Ride Quality

Parametric Continuous Curvature Path for Smooth Steering with Car-like Vehicles

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