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Longitudinal and La...
Longitudinal and Lateral Control for Automated Yielding Maneuvers
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- Nilsson, Julia, 1986 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Brännström, Mattias, 1980 (författare)
- Volvo Cars
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- Fredriksson, Jonas, 1972 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Coelingh, Erik, 1971 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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(creator_code:org_t)
- Institute of Electrical and Electronics Engineers (IEEE), 2016
- 2016
- Engelska.
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Ingår i: IEEE Transactions on Intelligent Transportation Systems. - : Institute of Electrical and Electronics Engineers (IEEE). - 1524-9050 .- 1558-0016. ; 17:5, s. 1404-1414
- Relaterad länk:
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http://dx.doi.org/10...
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https://doi.org/10.1...
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https://research.cha...
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Abstract
Ämnesord
Stäng
- Automated driving is predicted to enhance traffic safety, transport efficiency, and driver comfort. To extend the capability of current advanced driver assistance systems, and eventually realize fully automated driving, the intelligent vehicle system must have the ability to plan different maneuvers while adapting to the surrounding traffic environment. This paper presents an algorithm for longitudinal and lateral trajectory planning for automated driving maneuvers where the vehicle does not have right of way, i.e., yielding maneuvers. Such maneuvers include, e.g., lane change, roundabout entry, and intersection crossing. In the proposed approach, the traffic environment which the vehicle must traverse is incorporated as constraints on its longitudinal and lateral positions. The trajectory planning problem can thereby be formulated as two loosely coupled low-complexity model predictive control problems for longitudinal and lateral motion. Simulation results demonstrate the ability of the proposed trajectory planning algorithm to generate smooth collision-free maneuvers which are appropriate for various traffic situations.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Annan teknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Other Engineering and Technologies (hsv//eng)
Nyckelord
- trajectory planning
- intersection crossing
- automated driving
- Advanced driver assistance systems
- model predictive control
- autonomous driving
- lane change
- roundabout entry
Publikations- och innehållstyp
- art (ämneskategori)
- ref (ämneskategori)
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