Search-Based Motion Planning for Performance Autonomous Driving

Zlatan Ajanovic; Enrico Regolin; Georg Stettinger; Martin Horn; Antonella Ferrara

doi:10.1007/978-3-030-38077-9_134

Search-Based Motion Planning for Performance Autonomous Driving

Zlatan Ajanovic^*, Enrico Regolin, Georg Stettinger, Martin Horn, Antonella Ferrara

^*Korrespondierende/r Autor/-in für diese Arbeit

Publikation: Beitrag in Buch/Bericht/Konferenzband › Beitrag in einem Konferenzband › Begutachtung

Abstract

Driving on the limits of vehicle dynamics requires predictive planning of future vehicle states. In this work, a search-based motion planning is used to generate suitable reference trajectories of dynamic vehicle states with the goal to achieve the minimum lap time on slippery roads. The search-based approach enables to explicitly consider a nonlinear vehicle dynamics model as well as constraints on states and inputs so that even challenging scenarios can be achieved in a safe and optimal way. The algorithm performance is evaluated in simulated driving on a track with segments of different curvatures. Our code is available at https://git.io/JenvB.

Originalsprache	englisch
Titel	Advances in Dynamics of Vehicles on Roads and Tracks - Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019
Redakteure/-innen	Matthijs Klomp, Fredrik Bruzelius, Jens Nielsen, Angela Hillemyr
Herausgeber (Verlag)	Springer
Seiten	1144-1154
Seitenumfang	11
ISBN (Print)	9783030380762
DOIs	https://doi.org/10.1007/978-3-030-38077-9_134
Publikationsstatus	Veröffentlicht - 1 Jan. 2020
Veranstaltung	26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019 - Gothenburg, Schweden Dauer: 12 Aug. 2019 → 16 Aug. 2019

Publikationsreihe

Name	Lecture Notes in Mechanical Engineering
ISSN (Print)	2195-4356
ISSN (elektronisch)	2195-4364

Konferenz

Konferenz	26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019
Land/Gebiet	Schweden
Ort	Gothenburg
Zeitraum	12/08/19 → 16/08/19

ASJC Scopus subject areas

Fahrzeugbau
Luft- und Raumfahrttechnik
Maschinenbau
Fließ- und Transferprozesse von Flüssigkeiten

Zugriff auf Dokument

10.1007/978-3-030-38077-9_134

Andere Dateien und Links

http://www.scopus.com/inward/record.url?scp=85081537091&partnerID=8YFLogxK

Dieses zitieren

Ajanovic, Z., Regolin, E., Stettinger, G., Horn, M., & Ferrara, A. (2020). Search-Based Motion Planning for Performance Autonomous Driving. in M. Klomp, F. Bruzelius, J. Nielsen, & A. Hillemyr (Hrsg.), Advances in Dynamics of Vehicles on Roads and Tracks - Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019 (S. 1144-1154). (Lecture Notes in Mechanical Engineering). Springer. https://doi.org/10.1007/978-3-030-38077-9_134

Search-Based Motion Planning for Performance Autonomous Driving. / Ajanovic, Zlatan; Regolin, Enrico; Stettinger, Georg et al.
Advances in Dynamics of Vehicles on Roads and Tracks - Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019. Hrsg. / Matthijs Klomp; Fredrik Bruzelius; Jens Nielsen; Angela Hillemyr. Springer, 2020. S. 1144-1154 (Lecture Notes in Mechanical Engineering).

Publikation: Beitrag in Buch/Bericht/Konferenzband › Beitrag in einem Konferenzband › Begutachtung

Ajanovic, Z, Regolin, E, Stettinger, G, Horn, M & Ferrara, A 2020, Search-Based Motion Planning for Performance Autonomous Driving. in M Klomp, F Bruzelius, J Nielsen & A Hillemyr (Hrsg.), Advances in Dynamics of Vehicles on Roads and Tracks - Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019. Lecture Notes in Mechanical Engineering, Springer, S. 1144-1154, 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019, Gothenburg, Schweden, 12/08/19. https://doi.org/10.1007/978-3-030-38077-9_134

Ajanovic Z, Regolin E, Stettinger G, Horn M, Ferrara A. Search-Based Motion Planning for Performance Autonomous Driving. in Klomp M, Bruzelius F, Nielsen J, Hillemyr A, Hrsg., Advances in Dynamics of Vehicles on Roads and Tracks - Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019. Springer. 2020. S. 1144-1154. (Lecture Notes in Mechanical Engineering). doi: 10.1007/978-3-030-38077-9_134

Ajanovic, Zlatan ; Regolin, Enrico ; Stettinger, Georg et al. / Search-Based Motion Planning for Performance Autonomous Driving. Advances in Dynamics of Vehicles on Roads and Tracks - Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019. Hrsg. / Matthijs Klomp ; Fredrik Bruzelius ; Jens Nielsen ; Angela Hillemyr. Springer, 2020. S. 1144-1154 (Lecture Notes in Mechanical Engineering).

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Search-Based Motion Planning for Performance Autonomous Driving

Abstract

Publikationsreihe

Konferenz

ASJC Scopus subject areas

Zugriff auf Dokument

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