Optimal Path Planning with Clothoid Curves for Passenger Comfort

Edward Lambert, Richard Romano, David Watling

Abstract

Highly automated vehicles operating at SAE automation level 4 and 5 will not require the occupants’ attention to be on the road at all. They will be free to amuse themselves as passengers. This will have the side effect of making them more vulnerable to motion sickness. Automated vehicles must plan paths which are feasible for the vehicle and comfortable for its occupants. In railway and highway design, paths with clothoid based transitions provide feasibility and comfort. This paper proposes a method for generating such a path using constrained non-linear optimization and compares it to an existing method based on root finding.

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Paper Citation


in Harvard Style

Lambert E., Romano R. and Watling D. (2019). Optimal Path Planning with Clothoid Curves for Passenger Comfort.In Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS, ISBN 978-989-758-374-2, pages 609-615. DOI: 10.5220/0007801806090615


in Bibtex Style

@conference{vehits19,
author={Edward Lambert and Richard Romano and David Watling},
title={Optimal Path Planning with Clothoid Curves for Passenger Comfort},
booktitle={Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,},
year={2019},
pages={609-615},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007801806090615},
isbn={978-989-758-374-2},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,
TI - Optimal Path Planning with Clothoid Curves for Passenger Comfort
SN - 978-989-758-374-2
AU - Lambert E.
AU - Romano R.
AU - Watling D.
PY - 2019
SP - 609
EP - 615
DO - 10.5220/0007801806090615