Optimal velocity planning for autonomous vehicles considering curvature constraints

2007 ◽  
Author(s):  
Corrado Guarino Lo Bianco ◽  
Massimo Romano
Keyword(s):  
Autonomous Vehicles ◽  
Optimal Velocity ◽  
Velocity Planning

scholarly journals Toward a Comfortable Driving Experience for a Self-Driving Shuttle Bus

Electronics ◽  
2019 ◽  
Vol 8 (9) ◽  
pp. 943 ◽  
Author(s):  
Il Bae ◽  
Jaeyoung Moon ◽  
Jeongseok Seo
Keyword(s):  
Real Time ◽  
High Performance ◽  
Autonomous Driving ◽  
Planning Method ◽  
Dynamics Simulation ◽  
Driving Experience ◽  
Optimal Velocity ◽  
Planning Approach ◽  
Velocity Planning ◽  
Time Optimal

The convergence of mechanical, electrical, and advanced ICT technologies, driven by artificial intelligence and 5G vehicle-to-everything (5G-V2X) connectivity, will help to develop high-performance autonomous driving vehicles and services that are usable and convenient for self-driving passengers. Despite widespread research on self-driving, user acceptance remains an essential part of successful market penetration; this forms the motivation behind studies on human factors associated with autonomous shuttle services. We address this by providing a comfortable driving experience while not compromising safety. We focus on the accelerations and jerks of vehicles to reduce the risk of motion sickness and to improve the driving experience for passengers. Furthermore, this study proposes a time-optimal velocity planning method for guaranteeing comfort criteria when an explicit reference path is given. The overall controller and planning method were verified using real-time, software-in-the-loop (SIL) environments for a real-time vehicle dynamics simulation; the performance was then compared with a typical planning approach. The proposed optimized planning shows a relatively better performance and enables a comfortable passenger experience in a self-driving shuttle bus according to the recommended criteria.

Time-optimal velocity planning by a bound-tightening technique

2018 ◽  
Vol 70 (1) ◽  
pp. 61-90 ◽  
Author(s):  
Federico Cabassi ◽  
Luca Consolini ◽  
Marco Locatelli
Keyword(s):  
Optimal Velocity ◽  
Velocity Planning ◽  
Bound Tightening ◽  
Time Optimal

scholarly journals A Comparative Study of Different Objectives Functions for the Minimal Fuel Drive Cycle Optimization in Autonomous Vehicles

2019 ◽  
Vol 141 (7) ◽  
Author(s):  
Niket Prakash ◽  
Youngki Kim ◽  
Anna G. Stefaopoulou
Keyword(s):  
Energy Minimization ◽  
Autonomous Vehicles ◽  
Energy Demand ◽  
Simulation Software ◽  
Drive Cycle ◽  
Optimal Velocity ◽  
Vehicle Simulation ◽  
Gasoline Vehicles ◽  
Vehicle Controllers ◽  
Resistance Forces

With the advent of self-driving autonomous vehicles, vehicle controllers are free to drive their own velocities. This feature can be exploited to drive an optimal velocity trajectory that minimizes fuel consumption. Two typical approaches to drive cycle optimization are velocity smoothing and tractive energy minimization. The former reduces accelerations and decelerations, and hence, it does not require information of vehicle parameters and resistance forces. On the other hand, the latter reduces tractive energy demand at the wheels of a vehicle. In this work, utilizing an experimentally validated full vehicle simulation software, we show that for conventional gasoline vehicles the lower energy velocity trajectory can consume as much fuel as the velocity smoothing case. This implies that the easily implementable, vehicle agnostic velocity smoothing optimization can be used for velocity optimization rather than the nonlinear tractive energy minimization, which results in a pulse-and-glide trajectory.

scholarly journals Look-Ahead Traffic-Based Optimal Velocity Planning for Parallel HEVs

2019 ◽  
Vol 52 (5) ◽  
pp. 580-585 ◽  
Author(s):  
Fuguo Xu ◽  
Tielong Shen
Keyword(s):  
Optimal Velocity ◽  
Look Ahead ◽  
Velocity Planning

scholarly journals Optimal Velocity Planning of Wheeled Mobile Robots on Specific Paths in Static and Dynamic Environments

2003 ◽  
Vol 20 (12) ◽  
pp. 737-754 ◽  
Author(s):  
María Prado ◽  
Antonio Simón ◽  
Enrique Carabias ◽  
Ana Perez ◽  
Francisco Ezquerro
Keyword(s):  
Mobile Robots ◽  
Dynamic Environments ◽  
Wheeled Mobile Robots ◽  
Optimal Velocity ◽  
Velocity Planning
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