Optimization of B-Spline parameterized Trajectories for On-Road Vehicle Guidance

Conference: AmE 2021 – Automotive meets Electronics - 12. GMM-Symposium
03/10/2021 - 03/11/2021 at online

Proceedings: GMM-Fb. 99: AmE 2021

Pages: 6Language: englishTyp: PDF

Dorpmueller, Philip; Bertram, Torsten (TU Dortmund, Institute of Control Theory and Systems Engineering, Dortmund, Germany)
Keller, Martin (ZF Group, Division Electronics and ADAS, Gelsenkirchen, Germany)

The guidance of an automated vehicle requires a software-module, which plans a comfortable and collision-free future motion. Furthermore, it must be able to lead the vehicle into a given planning goal. This requires the design of a trajectory planning method including a suitable objective function under consideration of vehicle dynamics and environmental constraints. In this contribution, a trajectory planning algorithm is proposed, which enables the execution of different maneuvers for on-road driving. Restrictions of the state- and input space are included as hard constraints.