A fast and personalized trajectory planning and tracking control strategy on highway automated driving 2019-01-0689
This paper presents an automated highway driving decision methods to generate the ideal driving trajectory. A curve transformation was proposed to switch curve path in actual highway road to straight path and achieve fast trajectory planning in various complex traffic scenarios. A cluster of candidate paths based on sampling sinusoidal curves were developed and an optimization model considering the compromise of efficiency and safety in highway driving was established to reach personalized trajectory path planning and tracking control in highly automated driving. A complicated driving scenario with multi-transportation participators was designed and a preview feedback controller to track ideal path was constructed to validate the effectiveness of the proposed decision-making method. The simulation results demonstrated that the real time performance in the proposed decision-making method was improved significantly when it was compared with traditional nonlinear programming (NLP) path planning, a personalized and fast trajectory planning thus was developed.
Wei Yang, Ling Zheng, Yue Ren, Yinong Li