A Dynamic Trajectory Planning for Automatic Vehicles Based on Improved Discrete Optimization Method

2020-01-0120

04/14/2020

Event
WCX SAE World Congress Experience
Authors Abstract
Content
The dynamic trajectory planning problem for automatic vehicles in complex traffic scenarios is investigated in this paper. A hierarchical motion planning framework is developed to complete the complex planning task. An improved dangerous potential field in the curvilinear coordinate system is constructed to describe the collision risk of automatic vehicles accurately instead of the discrete Gaussian convolution algorithm. At the same time, the driving comfort is also considered in order to generate an optimal, smooth, collision-free and feasible path in dynamics. The optimal path can be mapped into the Cartesian coordinate system simply and conveniently. Furthermore, a velocity profile considering practical vehicle dynamics is also presented to improve the safety and the comfort in driving. The effectiveness of the proposed dynamic trajectory planning is verified by numerical simulation for several typical traffic scenarios.
Meta TagsDetails
DOI
https://doi.org/10.4271/2020-01-0120
Pages
9
Citation
Zeng, P., and Ling, Z., "A Dynamic Trajectory Planning for Automatic Vehicles Based on Improved Discrete Optimization Method," SAE Technical Paper 2020-01-0120, 2020, https://doi.org/10.4271/2020-01-0120.
Additional Details
Publisher
Published
Apr 14, 2020
Product Code
2020-01-0120
Content Type
Technical Paper
Language
English