Trajectory Planning of Automated Vehicles in Tube-like Road Segments
For researchers in automated vehicle trajectory planning, this work offers a spatial-domain formulation with heuristics for vehicle dimensions and friction constraints, but the improvements over existing methods are incremental.
This paper proposes a linear programming-based method for trajectory planning of automated vehicles in tube-like road segments, integrating obstacle avoidance, waypoint scheduling, and time-optimal traversal. The method outperforms a time-based baseline in simulation.
This paper presents a method based on linear programming for trajectory planning of automated vehicles, combining obstacle avoidance, time scheduling for the reaching of waypoints and time-optimal traversal of tube-like road segments. System modeling is conducted entirely spatial-based. Kinematic vehicle dynamics as well as time are expressed in a road-aligned coordinate frame with path along the road centerline serving as the dependent variable. We elaborate on control rate constraints in the spatial domain. A vehicle dimension constraint heuristic is proposed to constrain vehicle dimensions inside road boundaries. It is outlined how friction constraints are accounted for. The discussion is extended to dynamic vehicle models. The benefits of the proposed method are illustrated by a comparison to a time-based method.