Fast Real-Time Trajectory Planning Method with 3rd-Order Curve Optimization for Automated Vehicles
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2020-09-20
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IEEE
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Abstract
Automated driving (AD) is one of the fastest-growing tendencies in the Intelligent Transportation Systems (ITS) field with some interesting demonstrations and prototypes. Currently, the main research topics are aligned with vehicle communications, environment recognition, control, and decision-making. A real-time trajectory planning method for Automated vehicles (AVs) is presented in this paper; the contribution is part of AD’s decision-making module. This novel approach uses the properties of the 3er order Bézier curves to generate fast and reliable vehicle trajectories. Online execution and vehicle tracking capacities are considered on the approach. A feasible trajectory is selected based on the criteria: (i) the vehicle must be contained by a collision-free corridor given by an upper decision layer, (ii) the vehicle must be capable to track the generated trajectory, and (iii) the continuity of the path and curvature must be preserved in the joints. Our approach was tested considering a vehicle length (automated bus) of 12 meters. The scenario has the dimension of a real test location with multiple roundabouts.
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Publisher Copyright: © 2020 IEEE.
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Trajectory , Trajectory planning , Optimization , Real-time systems , Task analysis , Kinematics , Geometry , Trajectory , Trajectory planning , Optimization , Real-time systems , Task analysis , Kinematics , Geometry , Artificial Intelligence , Decision Sciences (miscellaneous) , Information Systems and Management , Modeling and Simulation , Education , SDG 11 - Sustainable Cities and Communities , Project ID , info:eu-repo/grantAgreement/EC/H2020/737469/EU/Advancing fail-aware, fail-safe, and fail-operational electronic components, systems, and architectures for fully automated driving to make future mobility safer, affordable, and end-user aceptable/AutoDrive , info:eu-repo/grantAgreement/EC/H2020/875530/EU/SHared automation Operating models for Worldwide adoption/SHOW , info:eu-repo/grantAgreement/EC/H2020/737469/EU/Advancing fail-aware, fail-safe, and fail-operational electronic components, systems, and architectures for fully automated driving to make future mobility safer, affordable, and end-user aceptable/AutoDrive , info:eu-repo/grantAgreement/EC/H2020/875530/EU/SHared automation Operating models for Worldwide adoption/SHOW , Funding Info , This work was supported by the European AutoDrive project from the ECSEL program under the grant agreement No 737469, and the European SHOW Project from the Horizon 2020 program under the grant agreement No 875530. , This work was supported by the European AutoDrive project from the ECSEL program under the grant agreement No 737469, and the European SHOW Project from the Horizon 2020 program under the grant agreement No 875530.
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Lattarulo , R & Perez , J 2020 , Fast Real-Time Trajectory Planning Method with 3rd-Order Curve Optimization for Automated Vehicles . in unknown . 2020 IEEE 23rd International Conference on Intelligent Transportation Systems, ITSC 2020 , IEEE , pp. 1-6 , 23rd IEEE International Conference on Intelligent Transportation Systems, ITSC 2020 , Rhodes , Greece , 20/09/20 . https://doi.org/10.1109/ITSC45102.2020.9294658
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