Authors:
Larissa Labakhua
1
;
Urbano Nunes
2
;
Rui Rodrigues
2
and
Fátima S. Leite
2
Affiliations:
1
University of Algarve, Escola Superior de Tecnologia/ADEE, Portugal
;
2
Institute of Systems and Robotics, University of Coimbra, Portugal
Keyword(s):
Trajectory planning, splines, clothoids, trajectory tracking, fully-automated vehicles, passenger comfort.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Intelligent Transportation Technologies and Systems
;
Modeling, Simulation and Architectures
;
Robotics and Automation
Abstract:
A new approach for mobility, providing an alternative to the private passenger car, by offering the same flexibility but with much less nuisances, is emerging, based on fully automated electric vehicles. A fleet of such vehicles might be an important element in a novel individual, door-to-door, transportation system to the city of tomorrow. For fully automated operation, trajectory planning methods that produce smooth trajectories, with low associated accelerations and jerk, for providing passenger´s comfort, are required. This paper addresses this problem proposing an approach that consists of introducing a velocity planning stage to generate adequate time sequences for usage in the interpolating curve planners. Moreover, the generated speed profile can be merged into the trajectory for usage in trajectory-tracking tasks like it is described in this paper, or it can be used separately (from the generated 2D curve) for usage in path-following tasks. Three trajectory planning methods,
aided by the speed profile planning, are analysed from the point of view of passengers' comfort, implementation easiness, and trajectory tracking.
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