Optimal Path Planning with Clothoid Curves for Passenger Comfort

Edward Derek Lambert; Richard Romano; David Watling

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Paper

Optimal Path Planning with Clothoid Curves for Passenger Comfort

Topics: Autonomous Vehicles and Automated Driving

In Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems VEHITS - Volume 1, 609-615, 2019 , Heraklion, Crete, Greece

Authors: Edward Derek Lambert ; Richard Romano and David Watling

Affiliation: Institute for Transport Studies, University of Leeds, 34-40 University Road, Leeds and U.K.

Keyword(s): Passenger Comfort, Clothoid, Path Planning, Automated Vehicle.

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 several formats:

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 - VEHITS; ISBN 978-989-758-374-2; ISSN 2184-495X, SciTePress, pages 609-615. DOI: 10.5220/0007801806090615

@conference{vehits19,
author={Edward Derek 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 - VEHITS},
year={2019},
pages={609-615},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007801806090615},
isbn={978-989-758-374-2},
issn={2184-495X},
}

TY - CONF

JO - Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS
TI - Optimal Path Planning with Clothoid Curves for Passenger Comfort
SN - 978-989-758-374-2
IS - 2184-495X
AU - Lambert, E.
AU - Romano, R.
AU - Watling, D.
PY - 2019
SP - 609
EP - 615
DO - 10.5220/0007801806090615
PB - SciTePress