This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Road Curvature Decomposition for Autonomous Guidance
Technical Paper
2020-01-1024
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
Vehicle autonomy is critically dependent on an accurate identification and mathematical representation of road and lane geometries. Many road lane identification systems are ad hoc (e.g., machine vision and lane keeping systems) or utilize finely-discretized path data and vehicle tracking systems such as GPS. A novel Midwest Discrete Curvature (MDC) method is proposed in which geodetic road data is parsed along road directions and digitally stored in a road data matrix. Road data is discretized to geospatial points and curvature and road tangent vectorization, which can be utilized to generate consistent, mathematically-defined road profiles with deterministic boundary conditions, consistent non-holonomic boundary constraints, and a smooth, differentiable path which connects critical road coordinates. The method was evaluated by discretizing three road segments: a hypothetical road consistent with the American Association of State Highway and Transportation Officials (AASHTO) Green Book design standards, a road segment discretized using satellite photography and GPS data points, and an in-vehicle GPS trace collected at 10 Hz. Improvements and further research were recommended to expand findings, but results indicated potential for implementation into road modeling which could be the foundation of new autonomous vehicle guidance systems that are complimentary to existing autonomous systems.
Recommended Content
Authors
Topic
Citation
Jacome, R., Stolle, C., and Sweigard, M., "Road Curvature Decomposition for Autonomous Guidance," SAE Technical Paper 2020-01-1024, 2020, https://doi.org/10.4271/2020-01-1024.Also In
References
- Stolle , C. , Jacome , R. , and Sweigard , M. 2018
- Huetter , J. Repairer Driven News 2018 https://www.repairerdrivennews.com/2018/02/02/iihs-hldi-estimates-24-of-fleet-had-backup-cameras-17-had-parking-sensors-in-2016/
- Compendium of HLDI Collision Avoidance Research HLDI Bulletin 35 34 Sept. 2018
- Benson , A.J. , Tefft , B.C. , Svancara , A.M. , and Horrey , W.J. Potential Reductions in Crashes, Injuries, and Deaths from Large-Scale Deployment of Advanced Driver Assistance Systems (Research Brief) Washington, D.C. AAA Foundation for Traffic Safety 2018
- LaValle , S.M. 2006 https://doi.org/10.1017/cbo9780511546877
- Heinrich , S. Planning Universal On-Road Driving Strategies for Automated Vehicles Springer 2018 https://doi.org/10.1007/978-3-658-21954-3
- Kelly , A. and Nagy , B. Reactive Nonholonomic Trajectory Generation via Parametric Optimal Control I. J. Robotics Res. 22 583 602 2003 https://doi.org/10.1177/02783649030227008
- Dubins , L.E. On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents American Journal of Mathematics 79 3 497 516 1957 https://doi.org/10.2307/2372560
- Ziegler , J. , Bender , P. , Dang , T. , and Stiller , C. Trajectory Planning for Bertha - A Local, Continuous Method 2014 IEEE Intelligent Vehicles Symposium Proceedings 2014 450 457 https://doi.org/10.1109/IVS.2014.6856581
- Fox , C. An Introduction to the Calculus of Variations Courier Corporation 1987
- Takahashi , A. , Hongo , T. , Ninomiya , Y. , and Sugimoto , G. Local Path Planning and Motion Control for AGV in Positioning Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems’ (IROS ’89), the Autonomous Mobile Robots and Its Applications 1989 392 397 https://doi.org/10.1109/IROS.1989.637936
- Piazzi , A. and Guarino Lo Bianco , C. Quintic G2-Splines for Trajectory Planning of Autonomous Vehicles Proceedings of the IEEE Intelligent Vehicles Symposium 2000 2000 198 203
- Sun , Y. , Zhan , Z. , Fang , Y. , Zheng , L. et al. A Dynamic Local Trajectory Planning and Tracking Method for UGV Based on Optimal Algorithm SAE Technical Paper 2019-01-0871 2019 https://doi.org/10.4271/2019-01-0871
- Wilde , D. Computing Clothoid-Arc Segments for Trajectory Generation 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems 2009 2440 2445 https://doi.org/10.1109/IROS.2009.5354700
- Delingette , H. , Hebert , M. , and Ikeuchi , K. Trajectory Generation with Curvature Constraint Based on Energy Minimization Proceedings IROS ’91:IEEE/RSJ International Workshop on Intelligent Robots and Systems ’91 1991 1 206 11 https://doi.org/10.1109/IROS.1991.174451
- Werling , M. , Ziegler , J. , Soren , K. , and Thrun , S. Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenet Frame 2010 IEEE International Conference on Robotics and Automation Anchorage, AK IEEE 2010 987 993 https://doi.org/10.1109/ROBOT.2010.5509799
- Werling , M. , Kammel , S. , Ziegler , J. , and Groll , L. Optimal Trajectories for Time-Critical Street Scenarios Using Discretized Terminal Manifolds The International Journal of Robotics Research 31 3 346 359 Mar. 2012 https://doi.org/10.1177/0278364911423042
- Sun , Y. , Zhan , Z. , Fang , Y. , Zheng , L. et al. A Dynamic Local Trajectory Planning and Tracking Method for UGV Based on Optimal Algorithm SAE Technical Paper 2019-01-0871 2019 https://doi.org/10.4271/2019-01-0871
- Gillespie , T.D. Fundamentals of Vehicle Dynamics SAE International 1992 1-56091-199-9
- Pacejka , H.B. Tyre and Vehicle Dynamics Butterworth-Heinemann 2006
- do Carmo , M.P. Differential Geometry of Curves and Surfaces First Editon Englewood Cliffs, N.J Prentice-Hall 1976
- Pressley , A.N. Elementary Differential Geometry Second Edition London Springer-Verlag 2010 https://doi.org/10.1007/978-1-84882-891-9
- O’Reilly , O.M. Engineering Dynamics: A Primer Springer Science & Business Media 2010
- A Policy on Geometric Design of Highways and Streets (The Green Book) Sixth American Association of State Highway and Transportation Officials 2011
- Morral , J.F. and Talarico , R.J. Side Friction Demanded and Margin of Safety on Horizontal Curves Journal of the Transportation Research Board 145 152 1994
- Henry , J.J. 2000
- Mjaavatten , A. 2019 https://www.mathworks.com/matlabcentral/fileexchange/69452-curvature-of-a-2d-or-3d-curve
- Hughes , W.J. , Technical Center 2017
- Levien , R.L. n.d.
- Akima , H. A New Method of Interpolation and Smooth Curve Fitting based on Local Procedures J. ACM 17 4 589 602 Oct. 1970 https://doi.org/10.1145/321607.321609
- Heath , M.T. Scientific Computing: An Introductory Survey Revised Second SIAM 2018