Optimal Path Planning with Clothoid Curves for Passenger Comfort

被引：21

作者：

Lambert, Edward Derek ^{[1
]}

Romano, Richard ^{[1
]}

Watling, David ^{[1
]}

机构：

[1] Univ Leeds, Inst Transport Studies, 34-40 Univ Rd, Leeds, W Yorkshire, England

来源：

PROCEEDINGS OF THE 5TH INTERNATIONAL CONFERENCE ON VEHICLE TECHNOLOGY AND INTELLIGENT TRANSPORT SYSTEMS (VEHITS 2019) | 2019年

基金：

英国工程与自然科学研究理事会;

关键词：

Passenger Comfort; Clothoid; Path Planning; Automated Vehicle; CURVATURE;

D O I：

10.5220/0007801806090615

中图分类号：

U [交通运输];

学科分类号：

08 ; 0823 ;

摘要：

Highly automated vehicles operating at SAE automation level 4 and 5 will not require the occupants' attention to be on the road at all. They will be free to amuse themselves as passengers. This will have the side effect of making them more vulnerable to motion sickness. Automated vehicles must plan paths which are feasible for the vehicle and comfortable for its occupants. In railway and highway design, paths with clothoid based transitions provide feasibility and comfort. This paper proposes a method for generating such a path using constrained non-linear optimization and compares it to an existing method based on root finding.

引用

页码：609 / 615

页数：7

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