Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Minimizing Long Vehicles Overhang Exceeding the Drivable Surface via Convex Path Optimization
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-6802-7520
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, Superseded Departments (pre-2005), Signals, Sensors and Systems. KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-1927-1690
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, Superseded Departments (pre-2005), Signals, Sensors and Systems. KTH, School of Engineering Sciences (SCI), Applied Physics, Biomedical and X-ray Physics.ORCID iD: 0000-0002-3672-5316
KTH, School of Electrical Engineering (EES), Automatic Control.
2017 (English)Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents a novel path planning algo- rithm for on-road autonomous driving. The algorithm targets long and wide vehicles, in which the overhangs (i.e., the vehicle chassis extending beyond the front and rear wheelbase) can endanger other vehicles, pedestrians, or even the vehicle itself. The vehicle motion is described in a road-aligned coordinate frame. A novel method for computing the vehicle limits is proposed guaranteeing feasibility of the planned path when con- verted back into the original coordinate frame. The algorithm is posed as a convex optimization that takes into account the exact dimensions of the vehicle and the road, while minimizing the amount of overhang outside of the drivable surface.

The results of the proposed algorithm are compared in a simulation of a real road scenario against a centerline tracking scheme. The results show a significant decrease on the amount of overhang area outside of the drivable surface, leading to an increased safety in driving maneuvers. The real-time applicability of the method is shown, by using it in a receding- horizon framework. 

Place, publisher, year, edition, pages
2017.
Keyword [en]
Path planning, Optimization, Autonomous Driving
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-220575OAI: oai:DiVA.org:kth-220575DiVA: diva2:1169479
Conference
IEEE Intelligent Transportation Systems Conference
Available from: 2017-12-27 Created: 2017-12-27 Last updated: 2017-12-27

Open Access in DiVA

No full text

Authority records BETA

Lima, Pedro F.Wahlberg, BoMårtensson, Jonas

Search in DiVA

By author/editor
Lima, Pedro F.Wahlberg, BoMårtensson, Jonas
By organisation
Automatic ControlACCESS Linnaeus CentreSignals, Sensors and SystemsOptimization and Systems TheoryCentre for Autonomous Systems, CASBiomedical and X-ray Physics
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar

urn-nbn

Altmetric score

urn-nbn
Total: 3 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf