DocumentCode :
3025432
Title :
Optimal trajectory generation for dynamic street scenarios in a Frenét Frame
Author :
Werling, Moritz ; Ziegler, Julius ; Kammel, Sören ; Thrun, Sebastian
Author_Institution :
Dept. of Appl. Comput. Sci. & Autom., Univ. of Karlsruhe, Karlsruhe, Germany
fYear :
2010
fDate :
3-7 May 2010
Firstpage :
987
Lastpage :
993
Abstract :
Safe handling of dynamic highway and inner city scenarios with autonomous vehicles involves the problem of generating traffic-adapted trajectories. In order to account for the practical requirements of the holistic autonomous system, we propose a semi-reactive trajectory generation method, which can be tightly integrated into the behavioral layer. The method realizes long-term objectives such as velocity keeping, merging, following, stopping, in combination with a reactive collision avoidance by means of optimal-control strategies within the Frenét-Frame of the street. The capabilities of this approach are demonstrated in the simulation of a typical high-speed highway scenario.
Keywords :
collision avoidance; optimal control; road traffic; road vehicles; velocity control; Frenét frame; autonomous vehicles; dynamic highway scenario; dynamic street scenarios; following; high-speed highway scenario; holistic autonomous system; inner city scenario; merging; optimal trajectory generation; optimal-control strategy; reactive collision avoidance; safe handling; semi-reactive trajectory generation method; stopping; traffic-adapted trajectory; velocity keeping; Aerodynamics; Merging; Mobile robots; Remotely operated vehicles; Road transportation; Road vehicles; Robotics and automation; Traffic control; Trajectory; Vehicle dynamics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
ISSN :
1050-4729
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2010.5509799
Filename :
5509799
Link To Document :
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