求心加速度制約下での車線内走行における自動運転車の最適軌道生成
Optimal Trajectory Generation for Autonomous Vehicles Under Centripetal Acceleration Constraints for In-lane Driving Scenarios
曲率の微分可能なガイドラインを生成し、それに沿って求心加速度制約を満たす動的に実行可能なジャーク・時間最適軌道を二段階最適化で計算する手法を提案した。
著者: Yajia Zhang, Hongyi Sun, Jinyun Zhou, Jiangtao Hu, Jinghao Miao
分類: cs.RO
原文アブストラクト
This paper presents a noval method that generates optimal trajectories for autonomous vehicles for in-lane driving scenarios. The method computes a trajectory using a two-phase optimization procedure. In the first phase, the optimization procedure generates a close-form driving guide line with differetiable curvatures. In the second phase, the procedure takes the driving guide line as input, and outputs dynamically feasible, jerk and time optimal trajectories for vehicles driving along the guide line. This method is especially useful for generating trajectories at curvy road where the vehicles need to apply frequent accelerations and decelerations to accommodate centripetal acceleration limits.
