Real-Time Trajectory Planning Method Based On N-Order Curve Optimization

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dc.contributor.authorLattarulo, Ray
dc.contributor.authorGonzalez, Leonardo
dc.contributor.authorPerez, Joshue
dc.contributor.editorBarbulescu, Lucian-Florentin
dc.contributor.institutionCCAM
dc.date.issued2020-10-08
dc.descriptionPublisher Copyright: © 2020 IEEE.
dc.description.abstractIn recent years, many functionalities were developed for Automated Vehicles (AVs) and some of them with close-to-market prototypes. A required topic is the generation of continuous trajectories that reduces the amount of discrete and pre-coded instructions while leading the vehicle safely. Consequently, this work presents a novel real-time trajectory planning approach based on numerical optimization of n-order Bézier curves and lane-based information. The generation of a feasible trajectory considers the vehicle dimension while driving into a lane-corridor. The nonlinear optimization problem was solved with the Bound Optimization BY Quadratic Approximation method (BOBYQA), and it uses the passengers' comfort, safety, and vehicle dynamics as constraints of the problem. The solution is validated in a simulation environment using a bus with a length of 12 meters. Moreover, the validation considered the roundabouts due to its complexity, nevertheless, the solution is scalable to other scenarios.en
dc.description.statusPeer reviewed
dc.format.extent6
dc.format.extent2543734
dc.identifier.citationLattarulo , R , Gonzalez , L & Perez , J 2020 , Real-Time Trajectory Planning Method Based On N-Order Curve Optimization . in L-F Barbulescu (ed.) , unknown . 2020 24th International Conference on System Theory, Control and Computing, ICSTCC 2020 - Proceedings , Institute of Electrical and Electronics Engineers Inc. , pp. 751-756 , 24th International Conference on System Theory, Control and Computing, ICSTCC 2020 , Virtual, Sinaia , Romania , 8/10/20 . https://doi.org/10.1109/icstcc50638.2020.9259787
dc.identifier.citationconference
dc.identifier.doi10.1109/icstcc50638.2020.9259787
dc.identifier.isbn978-1-7281-9810-1
dc.identifier.isbn978-1-7281-9809-5
dc.identifier.isbn9781728198095
dc.identifier.otherresearchoutputwizard: 11556/1172
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=85097984892&partnerID=8YFLogxK
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.relation.ispartofunknown
dc.relation.ispartofseries2020 24th International Conference on System Theory, Control and Computing, ICSTCC 2020 - Proceedings
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subject.keywordsTrajectory
dc.subject.keywordsRoads
dc.subject.keywordsVehicle dynamics
dc.subject.keywordsPlanning
dc.subject.keywordsGeometry
dc.subject.keywordsTask analysis
dc.subject.keywordsLinear programming
dc.subject.keywordsTrajectory
dc.subject.keywordsRoads
dc.subject.keywordsVehicle dynamics
dc.subject.keywordsPlanning
dc.subject.keywordsGeometry
dc.subject.keywordsTask analysis
dc.subject.keywordsLinear programming
dc.subject.keywordsComputer Science Applications
dc.subject.keywordsAutomotive Engineering
dc.subject.keywordsControl and Systems Engineering
dc.subject.keywordsControl and Optimization
dc.subject.keywordsInstrumentation
dc.subject.keywordsProject ID
dc.subject.keywordsinfo:eu-repo/grantAgreement/EC/H2020/875530/EU/SHared automation Operating models for Worldwide adoption/SHOW
dc.subject.keywordsinfo:eu-repo/grantAgreement/EC/H2020/875530/EU/SHared automation Operating models for Worldwide adoption/SHOW
dc.subject.keywordsFunding Info
dc.subject.keywordsH2020 SHOW No 875530
dc.subject.keywordsH2020 SHOW No 875530
dc.titleReal-Time Trajectory Planning Method Based On N-Order Curve Optimizationen
dc.typeconference output
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