Hirsch, Karina; Hilgert, Jens; Lalo, Wildan; Schramm, Dieter; Hiller, Manfred:

Optimization of Emergency Trajectories for Autonomous Vehicles with respect to Linear Vehicle Dynamics

In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM 2005
University of Duisburg-Essen Chair of Mechatronics Lotharstr. 1, MD 222-230, 47057 Duisburg, Germany (2005)
Buchaufsatz / Kapitel / Fach: Maschinenbau
Abstract:
This paper looks at a trajectory planning strategy for autonomous
vehicles. 
The pre-defined nominal trajectory is analyzed with reference
to obstacles modeled from circular safety areas.
Based on the results of this analysis an emergency trajectory
is calculated by using the method of elastic bands. The
behavior of the trajectories calculated with this method has
been proven to provide flexible trajectories with minimal
changes of curvature and therefore good driveability.
However in a second step the dynamic behavior of the
vehicle is evaluated using the well-known bicycle model
along with a first approximation of the steering angle along
the trajectory. The trajectory of the vehicle calculated from
this steering angle is then improved by iterating the steering
angle based on an optimization algorithm.