Earticle

초록

영어

Trajectory planning is a key to achieve safe and efficient driving of automated vehicles. We propose a trajectory-planning suite that enables the generation of a safe and comfortable trajectory through receiving cooperative messages (e.g. CAM and DENM) to detect the obstacle vehicles. We also present a collision probability model to improve the accuracy of vehicles' decision-making. Our approach mainly experiences three steps. The trajectory generation module first generates a candidate set of eligible trajectories by synthetically considering the current yaw angle, velocity, and physical characteristics of the vehicle. Then the state prediction module predicts the position and velocity of the potential obstacle vehicle with respect to the transmission delay. The trajectory selection module finally chooses a best suitable trajectory to follow in terms of the current context. Moreover, we also investigate the effects of the communication performance on the trajectory planning. The extensive simulations show that the proposed trajectory-planning scheme is capable of guiding vehicles smoothly and safely across a common traffic situation against other obstacle vehicles.

목차

Abstract
 1. Introduction
 2. Related Work
 3. System Models
  3.1. Trajectory Generation Module
  3.2. State Prediction Module
  3.3. Collision Probability Module
  3.4. Trajectory Selection Module
 4. Simulations
  4.1. Effects of the Planning Cycle
  4.2. Effects of Communication Profile
  4.3. Effects of Time Delay
  4.4. Effects of Transmission Range
 5. Conclusions
 Acknowledgments
 References

키워드

저자

• Dan Shao [ College of Computer Science and Technology, Changchun University, Changchun 130022, China ]
• Jianan Wu [ College of Computer Science and Technology, Changchun University, Changchun 130022, China ]
• Yinfei Dai [ College of Computer Science and Technology, Changchun University, Changchun 130022, China ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605