Minimum vehicle slip path planning for automated driving using a direct element method

Abstract

In the UK, the number of fatal accidents on rural roads is approximately double that on urban roads. Statistics have also shown that accidents on rural roads decreased less than on other road types. The narrow width and complex geometry are less forgiving to drivers' mistakes. A potential remedy for this problem is automated driving in which the ability to plan -in real time-safe and feasible paths is essential. The literature review of recently proposed path planning methods has revealed that most of them utilise either forward simulations of a vehicle dynamics model or describe a priori mathematically a reference path. In this paper, the weaknesses of the reviewed methods are discussed and a new path planning method that belongs to the latter category is presented. The method is based on a direct element concept and as shown and discussed is extremely versatile. It is unique in the sense that for the first time it facilitates the prediction of the maximum vehicle slip angle and the definition of a reference path that minimises it. Contrary to other methods it is very flexible in defining arbitrary boundary and intermediate conditions. The overall computational cost as analysed is very small. Simulations illustrate its performance and comparisons with other methods highlight its strengths.

Two-phase A*: A real-time global motion planning method for non-holonomic unmanned ground vehicles

“…Some researchers try to smooth the piecewise-linear path by post-processing. 30–32 Other researchers use the local planning approaches 33–38 or the dynamics control approaches 39–45 to enable a UGV to follow the piecewise-linear path. However, these approaches often make the vehicle travel along a non-optimal path and is also dependent on the model of the vehicle.…”

Integrated longitudinal and lateral guidance of vehicles in critical high speed manoeuvres

“…[2][3][4][5][6][7] Some approximated the vehicle behaviour with linear dynamic models. [8][9][10] Many others also assumed that the maximum longitudinal or lateral acceleration is constant. 11,12 One of the researches that is applicable to general driving conditions which is considered the nonlinear vehicle and tyre dynamics is presented by Geon et al 13 However, the computational volume of this method is high and may also get stuck in a local minimum during optimization.…”

Vehicle agile maneuvering: From rally drivers to a finite state machine approach

“…Hairpin turns, thus using the full agility potential of the vehicle [2]. Due to the growing interest of the automotive industry in designing intelligent systems capable of operating autonomously and safely beyond the linear region limits, it is of vital important to understand how high yaw moments can be achieved [3,4].…”