弹道
路径(计算)
运动规划
控制理论(社会学)
国家(计算机科学)
车辆动力学
最优控制
理论(学习稳定性)
数学优化
工程类
轨迹优化
计算机科学
控制(管理)
数学
汽车工程
机器人
算法
天文
机器学习
物理
人工智能
程序设计语言
作者
Dongryul Kim,Hung Duy Nguyen,Kyoungseok Han
出处
期刊:IEEE Transactions on Vehicular Technology
[Institute of Electrical and Electronics Engineers]
日期:2023-07-01
卷期号:72 (7): 8553-8565
被引量:5
标识
DOI:10.1109/tvt.2023.3253212
摘要
In this paper, a state-constrained optimal solution based real-time vehicle path planning strategy, which aids the vehicle to avoid collision by the lane change maneuver, is presented. More specifically, depending on the driving conditions, the path is generated by considering the elapsed time and the driver's ride quality. Especially, the path is planned based on the trajectory optimization theory (i.e., Pontryagin maximum principle), resulting in the analytical optimal solutions. Furthermore, to handle the state-constrained optimization problem that is considered to ensure the vehicle lateral stability, we include the punctual and isolated equality constraints in the formulated optimization problem, which can designate the state variables as the desired value at the intermediate time instants. Through the numerical examples on various driving conditions and high-fidelity model-based verification, we demonstrate the effectiveness of the developed path planner, and our approach can effectively generate a safe vehicle path rapidly, depending on the road surfaces and vehicle speeds.
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