Optimal Velocity Profile Generation for Semi-Autonomous Vehicles

被引：0

作者：

Winter, Christoph ^{[1
]}

de Castro, Ricardo ^{[1
]}

机构：

[1] Deutsches Zentrum Luft & Raumfahrt DLR, Oberpfaffenhofen, Germany

来源：

AUTOREG 2017: AUTOMATISIERTES FAHREN UND VERNETZTE MOBILITAT | 2017年 / 2292卷

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This work describes the optimization of velocity profiles for the usage in (semi-) autonomous driving. The focus of the optimization lies on the trade-off between time and energy optimal velocity profiles. This trade-off can be directly chosen by the driver. With help of a dynamic programming framework the global optimum of the complex optimization with nonlinear constraints based on the vehicles physical limits is found. The velocity profile generation together with an online path planner serves as an input to the vehicle's path following control, allowing for automated driving. The effectiveness of the proposed approach is shown via numerical simulations.

引用

页码：129 / 141

页数：13

共 50 条

[21] Semi-Autonomous Vehicles as a Cognitive Assistive Device for Older Adults
Knoefel, Frank
Wallace, Bruce
Goubran, Rafik
Sabra, Iman
Marshall, Shawn
GERIATRICS, 2019, 4 (04)
[22] A mission controller for high level control of autonomous and semi-autonomous underwater vehicles
Martin, Stephen C.
Whitcomb, Louis L.
Yberger, Dana
Singh, Hanumaunt
OCEANS 2006, VOLS 1-4, 2006, : 770 - +
[23] An intelligent management system for relocating semi-autonomous shared vehicles
Xidias, Elias K.
Panagiotopoulos, Ilias E.
Zacharia, Paraskevi Th.
TRANSPORTATION PLANNING AND TECHNOLOGY, 2023, 46 (01) : 93 - 118
[24] Graph based Cooperative Localization for Connected and Semi-Autonomous Vehicles
Piperigkos, Nikos
Labs, Aris S.
Berberidis, Kostas
2020 IEEE 25TH INTERNATIONAL WORKSHOP ON COMPUTER AIDED MODELING AND DESIGN OF COMMUNICATION LINKS AND NETWORKS (CAMAD), 2020,
[25] Designing for Enhancing Situational Awareness of Semi-Autonomous Driving Vehicles
Wang, Chao
van de Star, Sietze
Sudhakaran, Adityen
Steeghs, Sander
Chakraborty, Debayan
Gorle, Archita
Dey, Debargha
Terken, Jacques
Hu, Jun
AUTOMOTIVEUI'17: PROCEEDINGS OF THE 9TH INTERNATIONAL CONFERENCE ON AUTOMOTIVE USER INTERFACES AND INTERACTIVE VEHICULAR APPLICATIONS, 2017, : 228 - 229
[26] Automation and the situation awareness of drivers in agricultural semi-autonomous vehicles
Bashiri, Behzad
Mann, Danny D.
BIOSYSTEMS ENGINEERING, 2014, 124 : 8 - 15
[27] Experimental Validation of Online Motion Planning for Semi-Autonomous Vehicles
Winter, Christoph
de Castro, Ricardo
Buente, Tilman
2022 IEEE VEHICLE POWER AND PROPULSION CONFERENCE (VPPC), 2022,
[28] Dynamic lane management for emerging mixed traffic with semi-autonomous vehicles
Guan, Hao
Meng, Qiang
Chen, Xiangdong
TRANSPORTATION RESEARCH PART C-EMERGING TECHNOLOGIES, 2025, 170
[29] A COMPUTATIONALLY EFFICIENT PREDICTIVE CONTROLLER FOR LANE KEEPING OF SEMI-AUTONOMOUS VEHICLES
Liu, Changchun
Lee, Chankyu
Hansen, Andreas
Hedrick, J. Karl
Ding, Jieyun
7TH ANNUAL DYNAMIC SYSTEMS AND CONTROL CONFERENCE, 2014, VOL 1, 2014,
[30] Robust Predictive Control for Semi-Autonomous Vehicles with an Uncertain Driver Model
Gray, Andrew
Gao, Yiqi
Hedrick, J. Karl
Borrelli, Francesco
2013 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), 2013, : 208 - 213

← 1 2 3 4 5 →