Practical path planning techniques in overtaking for autonomous shuttles

被引：16

作者：

Malayjerdi, Ehsan ^{[1
]}

Sell, Raivo ^{[1
]}

Malayjerdi, Mohsen ^{[1
]}

Udal, Andres ^{[2
]}

Bellone, Mauro ^{[3
]}

机构：

[1] Tallinn Univ Technol, Dept Mech & Ind Engn, Ehitajate Tee 5, EE-19086 Tallinn, Estonia

[2] Tallinn Univ Technol, Dept Informat Technol, Tallinn, Estonia

[3] Tallinn Univ Technol, Smart City Ctr Excellence, Tallinn, Estonia

来源：

JOURNAL OF FIELD ROBOTICS | 2022年 / 39卷 / 04期

基金：

欧盟地平线“2020”;

关键词：

automated vehicle; optimization; path planning; trajectory evaluation; VEHICLES; TRACKING; DECISION;

D O I：

10.1002/rob.22057

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper proposes a reliable optimized sigmoid-based path planning algorithm that ensures smooth, fast and safe overtaking maneuver, while maintaining the necessary safety distance. In the proposed method, the desired smoothness of trajectories, the changes in steering angle and the lateral acceleration are controlled in a robust way. This paper describes the simulations, and the confirming real-world experiments, conducted using the autonomous shuttle iseAuto. Our results suggest that the sigmoid A-star algorithm leads to a smoother and more reliable motion when compared to other two standard methods. Specifically, the abruptness of necessary steering angle changes is reduced by factor of 4, and approaching the level of an experienced driver-like maneuver.

引用

页码：410 / 425

页数：16

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[11] Collision avoidance method of autonomous vehicle based on improved artificial potential field algorithm [J].