Hilgert, Jens; Bertram, Torsten; Hiller, Manfred:

Path planning for autonomous driving from a vehicle dynamic point of view

In: VDI - Berichte
University Duisburg-Essen, Faculty of Engineering, Chair of Mechatronics Lotharstraße 1, 47057 Duisburg, Germany (2001)
Buchaufsatz / Kapitel / Fach: Maschinenbau
Abstract:
Autonomous driving investigations have revealed that user acceptance of autonomous vehicle guidance systems not only depends on safety aspects of the system, but also a substantial part is influenced by comfort aspects. Due to this fact, path planning methods for autonomous vehicle guidance will be investigated with respect to safety relevant vehicle dynamics and comfort related aspects in this constribution.Starting from the equations of motion for a vehicle, aa twice differentiable trajectory has to be guaranteed in path planning for autonomous vehicles. The use of splines distinguishes itself with excellent properties with regard to differentiability and manageability during the path planning process. First different trajectories for the double lane change maneoeuvre ISO/TR 3888 will be compared with each other taking geometric citeria into account. To judge the usability of the calcultated trajectories in autonomous vehicle guidance, a simplified vehicle model was validated using the complex vehicle  dynamics simulation enviroment FASIM_C++, which was developed in the Mechatronics Laboratory at the Gehard-Mercator-University of Duisburg. Afterwards the trajectories were considered from a vehicle dynamics point of view using the validated simplified vehicle model. For evaluation of practical usability changes in vehicle enviroment parameter were considered. The main focus was changes in the friction parameter between tire and road as these changes can appear in reality on wet or icy roads.

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