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

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

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.

Original language	English
Title of host publication	Advances in Dynamics of Vehicles on Roads and Tracks - Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019
Editors	Matthijs Klomp, Fredrik Bruzelius, Jens Nielsen, Angela Hillemyr
Publisher	Springer
Pages	1144-1154
Number of pages	11
ISBN (Print)	9783030380762
DOIs	https://doi.org/10.1007/978-3-030-38077-9_134
Publication status	Published - 1 Jan 2020
Event	26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019 - Gothenburg, Sweden Duration: 12 Aug 2019 → 16 Aug 2019

Publication series

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

Conference

Conference	26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019
Country/Territory	Sweden
City	Gothenburg
Period	12/08/19 → 16/08/19

Keywords

Autonomous vehicles
Drifting
Motion planning
Trail-braking

ASJC Scopus subject areas

Automotive Engineering
Aerospace Engineering
Mechanical Engineering
Fluid Flow and Transfer Processes

Access to Document

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

Cite this

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 (Eds.), Advances in Dynamics of Vehicles on Roads and Tracks - Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019 (pp. 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. ed. / Matthijs Klomp; Fredrik Bruzelius; Jens Nielsen; Angela Hillemyr. Springer, 2020. p. 1144-1154 (Lecture Notes in Mechanical Engineering).

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

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 (eds), 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, pp. 1144-1154, 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019, Gothenburg, Sweden, 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, editors, 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. p. 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. editor / Matthijs Klomp ; Fredrik Bruzelius ; Jens Nielsen ; Angela Hillemyr. Springer, 2020. pp. 1144-1154 (Lecture Notes in Mechanical Engineering).

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Search-Based Motion Planning for Performance Autonomous Driving

Abstract

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Conference

Keywords

ASJC Scopus subject areas

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