Deterministic Trajectory Planning for Non-Holonomic Vehicles Including Road Conditions, Safety and Comfort Factors

摘要

Deterministic and real time calculation of safe and comfortable speed profiles is the main topic of this paper. Using vehicle properties and road characteristics, such as friction and road banking, safety limits for rollover and skidding are calculated and applied in the trajectory planning. To satisfy comfort criteria and obtain smooth speed profiles, jerk and acceleration of the vehicle are limited in the speed planning algorithm. For speed planner, anA*based search method is used to calculate a speed profile corresponding to shortest traveling time. In order to avoid stationary and moving obstacles, decoupled prioritized planning is used. A physical model is used to define the behavior of the vehicle in the speed planner, where jerk is main parameter for speed planner. The physical model enables the algorithm to take into account the safety and comfort limitations. The results attained from the search method are compared with optimal solutions in different test scenarios and the comparisons show the properties of the algorithm.