Simulation-based Analysis Of Highway Trajectory Planning Using High-Order Polynomial For Highly Automated Driving Function
- One of the fundamental tasks of autonomous driving is safe trajectory planning, the task of deciding where the vehicle needs to drive, while avoiding obstacles, obeying safety rules, and respecting the fundamental limits of road. Real-world application of such a method involves consideration of surrounding environment conditions and movements such as Lane Change, collision avoidance, and lane merge. The focus of the paper is to develop and implement safe collision free highway Lane Change trajectory using high order polynomial for Highly Automated Driving Function (HADF). Planning is often considered as a higher-level process than control. Behavior Planning Module (BPM) is designed that plans the high-level driving actions like Lane Change maneuver to safely achieve the functionality of transverse guidance ensuring safety of the vehicle using motion planning in a scenario including environmental situation. Based on the recommendation received from the (BPM), the function will generate a desire corresponding trajectory. The proposedOne of the fundamental tasks of autonomous driving is safe trajectory planning, the task of deciding where the vehicle needs to drive, while avoiding obstacles, obeying safety rules, and respecting the fundamental limits of road. Real-world application of such a method involves consideration of surrounding environment conditions and movements such as Lane Change, collision avoidance, and lane merge. The focus of the paper is to develop and implement safe collision free highway Lane Change trajectory using high order polynomial for Highly Automated Driving Function (HADF). Planning is often considered as a higher-level process than control. Behavior Planning Module (BPM) is designed that plans the high-level driving actions like Lane Change maneuver to safely achieve the functionality of transverse guidance ensuring safety of the vehicle using motion planning in a scenario including environmental situation. Based on the recommendation received from the (BPM), the function will generate a desire corresponding trajectory. The proposed planning system is situation specific with polynomial based algorithm for same direction two lane highway scenario. To support the trajectory system polynomial curve can be used to reduces overall complexity and thereby allows rapid computation. The proposed Lane Change scenario is modeled, and results has been analyzed (verified and validate) through the MATLAB simulation environment. The method proposed in this paper has achieved a significant improvement in safety and stability of Lane Changing maneuver.…
Author: | Milin PatelORCiD, Marzana KhatunORCiD, Rolf Jung, Michael GlaßORCiD |
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DOI: | https://doi.org/10.1109/ICECCME52200.2021.9591044 |
Identifier: | 978-1-6654-2943-6 OPAC HS OPAC extern |
Identifier: | 978-1-6654-1262-9 OPAC HS OPAC extern |
Parent Title (Multiple languages): | 2021 International Conference on Electrical, Computer, Communications and Mechatronics Engineering (ICECCME), 7-8 Oct. 2021, Mauritius |
Publisher: | IEEE |
Document Type: | conference proceeding (article) |
Conference: | 2021 International Conference on Electrical, Computer, Communications and Mechatronics Engineering (ICECCME), 7-8 Oct. 2021, Mauritius |
Language: | English |
Year of first Publication: | 2021 |
Tag: | BPM; HADF; Lane Change; MPC; Trajectory Generation |
Number of pages: | 6 Seiten |
First Page: | 1 |
Last Page: | 6 |
Institutes: | IFM - Institut für Fahrerassistenz und vernetzte Mobilität |
Dewey Decimal Classification: | 6 Technik, Medizin, angewandte Wissenschaften / 62 Ingenieurwissenschaften |
Research focus: | FSP2: Mobilität |
Eigenständige Forschungsfelder | |
Publication Lists: | Jung, Rolf |
Khatun, Marzana | |
Patel, Milin | |
Publication reviewed: | begutachtet |
Release Date: | 2021/11/23 |