動的環境におけるレース車両のための多層グラフベース軌道計画
Multilayer Graph-Based Trajectory Planning for Race Vehicles in Dynamic Scenarios
高速かつ摩擦限界で走行するレース車両向けに、多層グラフを用いた先読み2段階の軌道計画手法を提案し、シミュレーションと実車で有効性を示した。
著者: Tim Stahl, Alexander Wischnewski, Johannes Betz, Markus Lienkamp
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Trajectory planning at high velocities and at the handling limits is a challenging task. In order to cope with the requirements of a race scenario, we propose a far-sighted two step, multi-layered graph-based trajectory planner, capable to run with speeds up to 212~km/h. The planner is designed to generate an action set of multiple drivable trajectories, allowing an adjacent behavior planner to pick the most appropriate action for the global state in the scene. This method serves objectives such as race line tracking, following, stopping, overtaking and a velocity profile which enables a handling of the vehicle at the limit of friction. Thereby, it provides a high update rate, a far planning horizon and solutions to non-convex scenarios. The capabilities of the proposed method are demonstrated in simulation and on a real race vehicle.
