Optimization Based Lateral and Longitudinal Trajectory Planning for Autonomous Vehicles

Abstract

In recent years, autonomous vehicles have gained significant attention with the help of technological developments. To fulfill the desired performance expectations, various sub-problems have to be solved efficiently in such complex systems. When these sub-problems are examined in detail, it can be seen that the motion and trajectory planning play a crucial role. Within the scope of this study, the trajectory planning problem was handled in the Frenet coordinate frame and an efficient optimization-based trajectory planning approach was proposed for autonomous driving. The proposed method was essentially based on the analytical solution of an optimization problem which was derived in the offline phase. In the real-time application, only the corresponding trajectory coefficients should be determined by solving a linear set of equations. Encountered practical problems and solution recommendations were also discussed in this study. The effectiveness of the proposed method was demonstrated via real-time simulations that were realized in the “Automotive Data and Time-Triggered Framework (ADTF)” framework.

Keywords

• Autonomous vehicles
• automated driving
• trajectory planning
• path planning

Otonom Araçlar İçin Optimizasyon Tabanlı Yanal ve Doğrusal Yörünge Planlama

Öz

Son yıllarda, teknolojik gelişmelerin de katkısıyla, otonom araçlar önemli bir ilgi odağı haline gelmiştir. Bu tarz karmaşık sistemlerde istenen performansın elde edilebilmesi için birçok alt problemin etkili bir şekilde çözülmüş olması gerekmektedir. Bu alt problemler detaylı olarak incelendiğinde hareket ve yörünge planlamasının çok önemli ve kritik bir yer tutuğu görülebilir. Bu çalışma kapsamında, yörünge planlama problemi Frenet koordinat düzleminde ele alınmış ve otonom sürüş sistemleri için optimizasyon tabanlı ve etkili bir yörünge planlama yaklaşımı önerilmiştir. Önerilen yöntem temelde bir optimizasyon probleminin analitik çözümünün çevrim dışı aşamada elde edilmesine dayanmaktadır. Böylece, gerçek zamanlı uygulama sırasında ilgili yörünge katsayılarının belirlenmesi için bir doğrusal denklem takımını çözmek yeterli hale gelmektedir. Karşılaşılan pratik sorunlar ve çözüm önerileri de yine bu çalışma kapsamında ele alınmıştır. Önerilen yöntemin etkinliği “Automotive Data and Time-Triggered Framework (ADTF)” ortamında gerçekleştirilen gerçek zamanlı benzetimlerle gösterilmiştir.

Anahtar Kelimeler

• yol planlama
• otonom araçlar
• otonom sürüş
• yörünge planlama

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