An Integrated Motion Planning Scheme for Safe Autonomous Vehicles in Highly Dynamic Environments
Abstract
:1. Introduction
2. Proposed Approach
2.1. Local Planning
2.1.1. Candidate Trajectory Generation
2.1.2. Desired Trajectory Selection
2.2. Path-Tracking Approach
3. Simulation Validation
3.1. Environment Setup
3.2. Results
4. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
Abbreviations
AV | Autonomous vehicle |
MPC | Model predictive control |
LPV-MPC | Linear parameter-varying model predictive control |
CTE | Cross-tracking error |
Appendix A. Candidate Trajectory Generation and Smoothness Optimization
Algorithm A1: Candidate Trajectory Generation |
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Algorithm A2: Smoothness Optimization of Candidate Path |
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Appendix B. Mathematical Model
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Vo, C.P.; Jeon, J.h. An Integrated Motion Planning Scheme for Safe Autonomous Vehicles in Highly Dynamic Environments. Electronics 2023, 12, 1566. https://doi.org/10.3390/electronics12071566
Vo CP, Jeon Jh. An Integrated Motion Planning Scheme for Safe Autonomous Vehicles in Highly Dynamic Environments. Electronics. 2023; 12(7):1566. https://doi.org/10.3390/electronics12071566
Chicago/Turabian StyleVo, Cong Phat, and Jeong hwan Jeon. 2023. "An Integrated Motion Planning Scheme for Safe Autonomous Vehicles in Highly Dynamic Environments" Electronics 12, no. 7: 1566. https://doi.org/10.3390/electronics12071566