Feasible Trajectories Generation for Autonomous Driving Vehicles

Round 1

Reviewer 1 Report

 The paper aims to develop a real time trajectory planning for autonomous vehicles. Much of the paper deals with the presentation of polynomial methods to map feasible trajectories. Some criteria for choosing the optimal trajectory are also presented.

Comments:

- In my opinion sentences should not start with a bibliographic reference number:

• line 62: "[4] presented fundamental new robust model...."
• line 80: "[7] briefed the prediction and generation of...."
• the same for the sentences between lines 83 and 92

- Figure 12 contains two sets of identical graphs. The only difference is their size 

The work presented is interesting and the obtained results are promising.

Author Response

Please consider my answers and approve my revisions. Thank you

Author Response File: Author Response.docx

Reviewer 2 Report

Manuscript: Flexible Trajectories Generation for Autonomous Driving Vehicle

Authors: Trieu Minh Vu, Reza Moezzi, Jindrich Cyrus, Jaroslav Hlava, Michal
Petru

 Basically, the modified one is much better than the previous manuscript, except in the content and “symnetric” in the first one of Figure 12 are still remained in the manuscript. Therefore, after minor revision the reviewer recommend it to be published in Applied Sciences.    

 

Also, the reviewer encourages the authors to consider the electric energy consumed in each designed trajectory, compare them in another paper, and submit to Special Issue on Energy-Saving Control in Mechatronic Systems

Author Response

Please consider my answers and approve my revisions. Thank you

Author Response File: Author Response.docx

This manuscript is a resubmission of an earlier submission. The following is a list of the peer review reports and author responses from that submission.

Round 1

Reviewer 1 Report

Manuscript: Flexible Trajectories Generation for Autonomous Driving Vehicle

Authors: Trieu Minh Vu, Reza Moezzi, Jindrich Cyrus, Jaroslav Hlava, Michal
Petru

 This paper present smooth and fast feasible trajectories generation for autonomous driving vehicles subject to the vehicle physical constraints on vehicle power, speed, acceleration as well as the hard limitations of vehicle steering angle and the steering angular speed since the vehicle speed and the vehicle steering angle are always in a strict relationship for the safety purpose depending on the real vehicle driving constraints, the environmental conditions and the surrounding obstacles….

 

The review has the following comments:

1. In Abstract, The authors claim optimal trajectory is selected according…. However the optimal theory does not show in the content, thence the reader can not understand how to select the optimal trajectory based on the safest steering angle, the shortest distance, and the smallest tracking error, etc. (line 219, page 9)
2. In section 2 and Fig. 1, are different. Line 128, ?1and (should be) ?2, and the reviewer does not know . It should be “symmetric” in Figure 12.
3. It is difficult to understand “ change the into the negative value” line 338, on page 17.
4. Without theoretical basis, the reviewer can not easily know symmetric trajectory is the best one, and better than the quartic polynomial one, and they all are better than that by basic method.

 

Based on the above comments, the authors do not prepare the manuscript well and it is suggested to reject.

Reviewer 2 Report

The authors of the paper present different methods for generating trajectories in the case of autonomous vehicle. There are also some criteria for choosing the optimal trajectory.

In my opinion, the work needs to be improved. The reasons are as follows:

• Most of the paper is concerned with the presentation of discrete mathematical polynomial methods to map feasible trajectories.
• Authors states that the outcomes of this paper can be used for auto-parking systems. But this problem is very little addressed in the paper.
• The conclusions are very brief and in my opinion do not present very clearly the results and the applicability of the study presented in the paper.

Some observations:

•  In Introduction there are quite a few sentences that start with the number of bibliographic references. For example between lines 79 and 91. For a better understanding and reading of the text, these sentences should probably be reconsidered
• At paragraph 3 line 134:  the sentence "The vehicle velocity is formulated from the vehicle velocity..... " in its current form, doesn't make sense to me
• Same paragraph, line 136 "The vehicle body angle, ?, along the axe x...". I think angles should be measured relative to an axis not along it. Most likely it's a formulation / translation mistake
• The way of writing the equations in the paper makes them quite difficult to follow. It should probably be simplified a bit by introducing some notations.