A trajectory planning algorithm for autonomous overtaking maneuvers

作者：Zhang Su Min; Sun Hao; Wang Yu

来源：2013 International Conference on Precision Mechanical Instruments and Measurement Technology, ICPMIMT 2013, 2013-05-25 to 2013-05-26.

DOI：10.4028/www.scientific.net/AMM.347-350.3494

• Autonomous Vehicles
• Dynamic environments
• Dynamic trajectory planning
• Kinematic vehicle models
• Overtaking maneuvers
• Surrounding environment
• Trajectory planning algorithm
• Vehicle state

<jats:p>Autonomous overtaking maneuver is one of the toughest challenges in the field of autonomous vehicles. A key issue of autonomous overtaking maneuver is to find a dynamically feasible trajectory to avoid collision with the overtaken vehicle and surrounding hazards. Traditional trajectory planning algorithms assume that the initial and final vehicle states are given before and generate a trajectory for the whole overtaking process. However, overtaking maneuver is generally a time consuming process. Those assumptions may be invalid in highly dynamic environment. This paper tries to present a dynamic trajectory planning algorithm for autonomous overtaking maneuvers. The whole overtaking maneuver trajectory is made up of several short-time trajectories. Each short-time trajectory is generated by a kinematic vehicle model and taken into account of the surrounding environment and traffic rules. The concept presented in this paper is demonstrated through simulation and the results are discussed.</jats:p>

• 出版日期2013
• 单位汽车仿真与控制国家重点实验室