论文信息 - Vehicle trajectory generation for optimal driving guidance

Vehicle trajectory generation for optimal driving guidance

This paper address the issue of generating an optimum trajectory for driving intelligent vehicles equipped with digital maps. The vehicle dynamic equation is incorporated into the design formulation for trajectory generation under several performance indices. A numerical procedure for solving the general optimum trajectory generation using a cell mapping method is developed. To demonstrate the effectiveness of the proposed solution, case studies for minimum time, energy, and jerk trajectories are conducted.

Li Li | Fei-Yue Wang

[1] Jürgen Ackermann,et al. Robust control prevents car skidding , 1997 .

[2] Fei-Yue Wang,et al. Implementing Adaptive Driving Systems for Intelligent Vehicles by Using Neuro-Fuzzy Networks , 2001 .

[3] Vadim I. Utkin,et al. Linear and nonlinear controller design for robust automatic steering , 1995, IEEE Trans. Control. Syst. Technol..

[4] C. Hsu. A discrete method of optimal control based upon the cell state space concept , 1985 .

[5] Hideo Takeda,et al. A Review of Four-Wheel Steering Studies from the Viewpoint of Vehicle Dynamics and Control , 1989 .

[6] Wolfgang Sienel,et al. Robust Control for Automatic Steering , 1990, 1990 American Control Conference.

[7] Sergey V. Drakunov,et al. Sliding mode control design for automated steering via Lyapunov approach , 1995, Proceedings of 1995 34th IEEE Conference on Decision and Control.

[8] J. Karl Hedrick,et al. Longitudinal Transition Maneuvers in an Automated Highway System , 1999 .

[9] Manabu Omae,et al. Longitudinal control of platoon treated as one dynamic system , 1998 .

[10] C. Hsu,et al. A Generalized Theory of Cell-to-Cell Mapping for Nonlinear Dynamical Systems , 1981 .

[11] S. J. Xu,et al. Automatic path tracking control of vehicles based on Lyapunov approach , 2001, ITSC 2001. 2001 IEEE Intelligent Transportation Systems. Proceedings (Cat. No.01TH8585).