Optimal Path Planning with Clothoid Curves for Passenger Comfort

Lambert, Edward Derek; Romano, Richard; Watling, David

doi:10.5220/0007801800002179

Cited by 10 publications

(8 citation statements)

References 12 publications

(20 reference statements)

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“…There is a trajectory planner using multiple Euler-curves optimized on lateral jerk and acceleration to design a curve trajectory [7]. By minimizing the lateral acceleration and jerk, this trajectory aims to provide high level comfort for passengers.…”

Section: Literature Overviewmentioning

confidence: 99%

“…Literature has already presented approaches to combine various objectives (e.g., comfort, safety, efficiency) and human-likeness in trajectory planning. Several works used optimization techniques to provide trajectories that are optimal based on the above objectives [2][3][4][5][6][7][8][9], or do the same to generate optimal control trajectories [10,11]. These approaches rely on assumption that human drivers also prefer to optimize such factors.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Curve Trajectory Model for Human Preferred Path Planning of Automated Vehicles

Igneczi,

Horvath,

Toth

et al. 2024

Automot. Innov.

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Automated driving systems are often used for lane keeping tasks. By these systems, a local path is planned ahead of the vehicle. However, these paths are often found unnatural by human drivers. In response to this, this paper proposes a linear driver model, which can calculate node points reflective of human driver preferences and based on these node points a human driver preferred motion path can be designed for autonomous driving. The model input is the road curvature, effectively harnessed through a self-developed Euler-curve-based curve fitting algorithm. A comprehensive case study is undertaken to empirically validate the efficacy of the proposed model, demonstrating its capacity to emulate the average behavioral patterns observed in human curve path selection. Statistical analyses further underscore the model's robustness, affirming the authenticity of the established relationships. This paradigm shift in trajectory planning holds promising implications for the seamless integration of autonomous driving systems with human driving preferences.

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Section: Literature Overviewmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Curve Trajectory Model for Human Preferred Path Planning of Automated Vehicles

Igneczi,

Horvath,

Toth

et al. 2024

Automot. Innov.

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show abstract

“…Geometrical methods employ clothoids, bezier curves, and others to generate a smooth path or to smoothen an existing one [7], [8], [9]. In addition to the design of the path, quintic bezier curves have been used to assure smooth and continuous velocity and acceleration profiles [10].…”

Section: Existing Studiesmentioning

confidence: 99%

Optimal Trajectory Planning for Mitigated Motion Sickness: Simulator Study Assessment

Jain

Kumar

Παπαϊωάννου

et al. 2023

IEEE Trans. Intell. Transport. Syst.

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In the transition from partial to high automation, occupants will no longer be actively involved in driving. This will allow the use of travel time for work or leisure, where high comfort levels preventing motion sickness are required. In this paper, an optimal trajectory planning algorithm is presented in order to minimise motion sickness in automated vehicles. A predefined path is provided as an input to the algorithm, to generate an optimal path with limited lateral deviation and the corresponding optimal velocity profile, for the minimisation of motion sickness. An optimal control problem is formulated with a cost function combining both motion sickness and travel time. For a sickening curvy road, the algorithm reduced the motion sickness dose value (MSDV) up to 52% depending on the allowed lateral deviation and the weighting on travel time. The efficacy of the proposed algorithm has been evaluated via human-in-the-loop experiments using a moving-base driving simulator. Motion cueing parameters were selected to optimally transmit the sickening stimuli resulting in close to full vibration transmission above 0.2 Hz. During the experiment, the participants were asked to rate their experience based on the standard MIsery SCore ratings. According to these, sickness levels were reduced on average by 65% with reduced motion sickness in all 16 participants.

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“…The second method tries to control the position of displayed images synchronized with passenger's head motions produced by vehicle acceleration/deceleration and vehicle motions, then provides a video that appears to be stabilized in relation to the movement of the vehicle. In [11], they generate the optimal Path Planning using Clothoid Curves to increase the comfort of the passengers. They use the second clothoid length, the straight line to the goal at the end, made up of the first clothoid length, and the squared distance along the curve as their costs to control.…”

Section: Motion Sickness In Literaturementioning

confidence: 99%

Motion Sickness Minimization Alerting System Using The Next Curvature Topology

Moazen

Burgio

Castellano³

2022

2022 IEEE International Conference on Mechatronics and Automation (ICMA)

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Current intelligent car prototypes increasingly move to become autonomous where no driver is required. If an automated vehicle has rearward and forward facing seats and none of the passengers pay attention to the road, they increasingly experience the motion sickness because of the inability of passengers to anticipate the future motion trajectory. In this paper, we focus on anticipatory audio and video cues using pleasant sounds and a Human Machine Interface to display and inform the passengers about the upcoming trajectories that may lead to make the passengers sick. To be able to anticipate the next moves, we require an evaluation system of the next 1 kilometer of the road using the map. The road is investigated based on the amount of the turns and the maximum speed allowed that lead to lateral accelerations that is high enough based on Motion Sickness Dose Value to make the passengers sick. The system alerts the passengers through a Human Machine Interface to focus on the road for prevention of the Motion Sickness. We evaluate our method by using Motion Sickness Dose Value. Based on this work, we can prevent the sickness due to lateral accelerations by making the passengers to focus on the road and decrease the vestibular conflict.

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Optimal Path Planning with Clothoid Curves for Passenger Comfort

Cited by 10 publications

References 12 publications

Curve Trajectory Model for Human Preferred Path Planning of Automated Vehicles

Curve Trajectory Model for Human Preferred Path Planning of Automated Vehicles

Optimal Trajectory Planning for Mitigated Motion Sickness: Simulator Study Assessment

Motion Sickness Minimization Alerting System Using The Next Curvature Topology

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