Your browser does not support JavaScript!
http://iet.metastore.ingenta.com
1887

Planning feasible vehicle manoeuvres on highways

Planning feasible vehicle manoeuvres on highways

For access to this article, please select a purchase option:

Buy article PDF
£12.50
(plus tax if applicable)
Buy Knowledge Pack
10 articles for £75.00
(plus taxes if applicable)

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership 

Recommend Title Publication to library

You must fill out fields marked with: *

Librarian details
Name:*
Email:*
Your details
Name:*
Email:*
Department:*
Why are you recommending this title?
Select reason:
 
 
 
 
 
IET Intelligent Transport Systems — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

The development of collision avoidance systems which are based on active intervention into the steering process is a promising way of reducing accident fatalities resulting from collisions with other road users. An important prerequisite of such systems is the calculation of feasible manoeuvres. In this paper, a sampling-based path-planning algorithm from robotics is proposed for planning trajectories on highways. In particular, adaptive polar splines are presented as one suitable way of describing path segments. Furthermore, it is demonstrated how kinematic constraints can be incorporated into the path-planning process.

References

    1. 1)
      • Sattel, T., Brandt, T.: `Ground vehicle guidance along collision-free trajectories using elastic bands', American Control Conf., 2005. Proc. 2005, 8–10 June 2005, 7, p. 4991–4996.
    2. 2)
      • W.L. Nelson . Continuous steering-funtion control of robot carts. IEEE Trans. Ind. Electron. , 3 , 330 - 337
    3. 3)
      • Rossetter, E.J.: `A potential field framework for active vehicle lanekeeping assistance', 2003, PhD, Stanford University, Department of Mechanical Engineering.
    4. 4)
      • T.H. Cormen , C.E. Leierson , R. Rivest , C. Stein . (2004) Algorithmen – Eine Einf̈uhrung.
    5. 5)
      • Piazzi, A., Guarino Lo Bianco, C.: `Quintic G', Proc. IEEE Intelligent Vehicles Symp., October 2000, Dearborn, MI, p. 198–203.
    6. 6)
      • Berglund, T.: `Path-planning with obstacle – avoiding minimum curvature variation B-splines', 2003, PhD, Luleå University of Technology, Department of Computer Science and Electrical Engineering, Luleå, Sweden.
    7. 7)
      • T. Flash , N. Hogan . The coordination of arm movements: an experimentally confirmed mathematical model. J. Neurosci. , 7 , 1688 - 1703
    8. 8)
      • Liscano, R., Green, D.: `Design and implementation of a trajectory generator for an indoor mobilerobot', Proc. IEEE/RJS Int. Conf. Intelligent Robotsand Systems, September 1989, Tsukuba, Japan, p. 380–385.
    9. 9)
      • Hilgert, J., Hirsch, K., Bertram, T., Hiller, M.: `Emergency path planning for autonomous vehicles using elastic band theory', Advanced Intelligent Mechatronics (AIM 2003)'. Proc., 2003 IEEE/ASME Int. Conf., 20–24 July 2003, 2, p. 1390–1395.
    10. 10)
    11. 11)
      • Simon, A., Becker, J.C.: `Vehicle guidance for an autonomous vehicle', Proc. IEEE/IEEJ/JSAI 1999 Int. Conf. Intelligent Transportation Systems, 1999, p. 429–434.
    12. 12)
      • L.E. Dubins . On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents. Am. J. Math. , 497 - 516
    13. 13)
      • N. Sledge , K. Marshek . Comparison of ideal vehicle lane-change trajectories. Res. Veh. Dyn. Simul. , 233 - 256
    14. 14)
      • S.M. Lavalle . (2006) Planning Algorithms.
http://iet.metastore.ingenta.com/content/journals/10.1049/iet-its_20070059
Loading

Related content

content/journals/10.1049/iet-its_20070059
pub_keyword,iet_inspecKeyword,pub_concept
6
6
Loading
This is a required field
Please enter a valid email address