Motion Planning for an Autonomous Vehicle Driving on Motorways by Using Flatness Properties

被引：21

作者：

Cong, Yanfeng ^{[1
]}

Sawodny, Oliver ^{[2
]}

Chen, Hong ^{[1
,3
]}

Zimmermann, Jan ^{[2
]}

Lutz, Alexander ^{[2
]}

机构：

[1] Jilin Univ, State Key Lab Automobile Dynam Simulat, Changchun 130025, Peoples R China

[2] Univ Stuttgart, Inst Syst Dynam, D-70511 Stuttgart, Germany

[3] Jilin Univ, Dept Control Sci & Engn, Changchun 130025, Peoples R China

来源：

2010 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS | 2010年

关键词：

D O I：

10.1109/CCA.2010.5611299

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a motion planning algorithm based on differential flatness for an autonomous vehicle driving in a structured environment with moving obstacles is presented. A descriptions of the structured environment and definitions of safety and availability of the lane are proposed. In order to ensure that the trajectory is feasible and effective, dynamic longitudinal and lateral acceleration constraints are taken into account. Simulation results are validated by measurements of the outputs of a 14 degrees of freedom vehicle dynamics model with the generated trajectory as inputs.

引用

页码：908 / 913

页数：6

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