A Dynamic Trajectory Planning for Automatic Vehicles Based on Improved Discrete Optimization Method 2020-01-0120
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.
Citation: Zeng, P. and Ling, Z., "A Dynamic Trajectory Planning for Automatic Vehicles Based on Improved Discrete Optimization Method," SAE Technical Paper 2020-01-0120, 2020, https://doi.org/10.4271/2020-01-0120. Download Citation
Author(s):
Pengyun Zeng, Zheng Ling
Affiliated:
Chongqing University
Pages: 9
Event:
WCX SAE World Congress Experience
ISSN:
0148-7191
e-ISSN:
2688-3627
Related Topics:
Trajectory control
Computer simulation
Vehicle dynamics /flight dynamics
Mathematical models
Optimization
Comfort
Research and development
Automated Vehicles
Autonomous vehicles
Collision avoidance systems
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