Efficient Speed Planning in the Path-Time Space for Urban Autonomous Driving

Duhautbout, Thibaud; Talj, Reine; Cherfaoui, Véronique; Aioun, François; Guillemard, Franck

doi:10.1109/itsc55140.2022.9921820

Search citation statements

Order By: Relevance

Paper Sections

Select...

Citation Types

Supporting

Mentioning

Contrasting

Year Published

2023

Publication Types

Select...

Other1

Article1

Relationship

Self Cite0

Independent2

Authors

Journals

Cited by 2 publications

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

CDT-Dijkstra: Fast Planning of Globally Optimal Paths for All Points in 2D Continuous Space

Liu,

Fu,

Zhang

et al. 2023

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

View full text Add to dashboard Cite

CDT-Dijkstra: Fast Planning of Globally Optimal Paths for All Points in 2D Continuous Space

Liu,

Fu,

Zhang

et al. 2023

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

View full text Add to dashboard Cite

Using Inverse Dynamics Technique in Planning Autonomous Vehicle Speed Mode Considering Physical Constraints

Diachuk¹,

Easa²

2023

Highlights Veh.

View full text Add to dashboard Cite

The study aims at improving the technique of planning the autonomous vehicles’ (AV) speed mode based on a kinematic model with physical restrictions. A mathematical model relates the derivatives of kinematic parameters with ones of the trajectory’s curvature. The inverse approach uses an expanded vehicle model considering the distribution of vertical reactions, wheels’ longitudinal reactions according to a drive type, and lateral forces ensuring motion stability. For analysis of the drive type, four options are proposed: front-wheel drive (FWD), rear-wheel drive (RWD), permanent engaged all-wheel drive (AWD), and 4-wheel drive with torque vectoring (4WD-TV). The optimization model is also built by the inverse scheme. The longitudinal speed’s higher derivatives are modeled by the finite element (FE) functions with nodal unknowns. The sequential integrations ensure the optimality and smoothness of the third derivative. The kinematic restrictions are supplemented by the tire-road critical slip states. Sequential quadratic programming (SQP) and the Gaussian N-point scheme for quadrature integration are used to minimize the objective function. The simulation results show a significant difference in the mode forecasts between four types of AV drives at the same initial conditions. This technique allows redistributing the traction forces strictly according to the wheels’ adhesion potentials and increases the optimization performance by about 40% compared to using the kinematic model based on the same technique without physical constrains.

show abstract

Efficient Speed Planning in the Path-Time Space for Urban Autonomous Driving

Cited by 2 publications

References 17 publications

CDT-Dijkstra: Fast Planning of Globally Optimal Paths for All Points in 2D Continuous Space

CDT-Dijkstra: Fast Planning of Globally Optimal Paths for All Points in 2D Continuous Space

Using Inverse Dynamics Technique in Planning Autonomous Vehicle Speed Mode Considering Physical Constraints

Contact Info

Product

Resources

About