Kinematic real-time trajectory planning with state and input constraints for the example of highly automated driving

被引：0

作者：

Joos, Steffen ^{[1
,2
]}

Bruder, Roktim ^{[2
]}

Specker, Thomas ^{[2
]}

Bitzer, Matthias ^{[2
]}

Graichen, Knut ^{[3
]}

机构：

[1] Robert Bosch GmbH, Chassis Syst Control Automated Driving Engn Syst, D-74232 Abstatt, Germany

[2] Robert Bosch GmbH, Corp Res Dynam Syst Control, D-71272 Renningen, Germany

[3] Friedrich Alexander Univ Erlangen Nuremberg, Chair Automat Control, D-91058 Erlangen, Germany

来源：

2019 23RD INTERNATIONAL CONFERENCE ON SYSTEM THEORY, CONTROL AND COMPUTING (ICSTCC) | 2019年

关键词：

Constrained trajectory generation; Vehicle motion control; Lateral motion stabilization; State constraints; Input constraints; Differentially flat systems; SYSTEMS;

D O I：

10.1109/icstcc.2019.8886030

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The real-time generation of kinematic trajectories w.r.t. state and input constraints is discussed for the stabilization of the lateral, longitudinal and vertical motion of objects such as (automated) vehicles in the Frenet frame. The goal is to exploit the property of differential flatness in order to achieve optimal trajectories as well as a flexible and selectable prioritization-based constraints satisfaction. This aim is subject to the absence of an online optimization and a low complexity of the planner's architecture.With regard to practical application, a discrete-time implementation of the planner is presented and benchmarked with two modern MPC approaches in terms of optimality and CPU-time consumption by means of simulation studies.

引用

页码：779 / 784

页数：6