吉林大学学报(工学版) ›› 2014, Vol. 44 ›› Issue (4): 918-924.doi: 10.13229/j.cnki.jdxbgxb201404004

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Micro vehicle dynamic trajectory plan with global optimality

SUN Hao, DENG Wei-wen, ZHANG Su-min, WU Meng-xun   

  1. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China
  • Received:2013-11-20 Online:2014-07-01 Published:2014-07-01

Abstract: A dynamic trajectory planning method of intelligent driving is proposed. Under the proposed hierarchical framework with three different layers in trajectory planning, the micro level is the focus to determine that how vehicle travels to ensure its safety and to achieve optimal driving performance and efficiency. The micro driving maneuvers that constitute any complex driving tasks were extracted. A cubic polynomial is used to represent the planned lane-change trajectory. A trajectory family is generated based on a vehicle steady-state kinetic model, which is used to ensure its safety against the traffic obstacles. Finally, a trajectory is selected based on optimization among multiple objectives on driving safety, efficiency and performance. The proposed method is valid and effective under Simulink environment.

Key words: vehicle engineering, dynamic trajectory planning, vehicle intelligence, autonomous driving

CLC Number: 

  • U461.99
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