Popp, Christoph ; Ziegler, Christoph ; Sippel, Marco ; Winner, Hermann (2022)
Ideal Reference Point in Planning and Control for Automated Car-Like Vehicles.
In: IEEE Transactions on Intelligent Vehicles, 2022
doi: 10.26083/tuprints-00021625
Artikel, Zweitveröffentlichung, Postprint
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Kurzbeschreibung (Abstract)
The choice of the reference point in automated vehicles impacts the vehicle's driving behavior. However, this influence is often not considered for planning and control tasks. To find out where the reference point should be located best, we first consider its position to be ideal if the needed lane width on the left and right side of the planned path is equal when cornering with constant curvature. For constantly curved paths we derive the ideal reference point depending on the curvature, using the kinematics of a slip angle free bicycle model. For non-stationary cornering, we analyze different maneuvers and finally, we select the reference point on the front axle. Utilizing this knowledge, the extent of a forward moving vehicle can be reduced to a point model, which does not require the orientation of the vehicle. This enables a simple and still promising approach for collision checking, where the vehicle's needed space is approximated by only one circle around the reference point. Finally, we analyze the influence of the reference point on a lateral feed-forward controller. Thus, we confirm the previously chosen reference point on the front axle for the equally distributed needed lane width and therefore recommend its use.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2022 |
| Autor(en): | Popp, Christoph ; Ziegler, Christoph ; Sippel, Marco ; Winner, Hermann |
| Art des Eintrags: | Zweitveröffentlichung |
| Titel: | Ideal Reference Point in Planning and Control for Automated Car-Like Vehicles |
| Sprache: | Englisch |
| Publikationsjahr: | 2022 |
| Ort: | Darmstadt |
| Publikationsdatum der Erstveröffentlichung: | 2022 |
| Verlag: | IEEE |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | IEEE Transactions on Intelligent Vehicles |
| Kollation: | 10 Seiten |
| DOI: | 10.26083/tuprints-00021625 |
| URL / URN: | https://tuprints.ulb.tu-darmstadt.de/21625 |
| Zugehörige Links: | |
| Herkunft: | Zweitveröffentlichung |
| Kurzbeschreibung (Abstract): | The choice of the reference point in automated vehicles impacts the vehicle's driving behavior. However, this influence is often not considered for planning and control tasks. To find out where the reference point should be located best, we first consider its position to be ideal if the needed lane width on the left and right side of the planned path is equal when cornering with constant curvature. For constantly curved paths we derive the ideal reference point depending on the curvature, using the kinematics of a slip angle free bicycle model. For non-stationary cornering, we analyze different maneuvers and finally, we select the reference point on the front axle. Utilizing this knowledge, the extent of a forward moving vehicle can be reduced to a point model, which does not require the orientation of the vehicle. This enables a simple and still promising approach for collision checking, where the vehicle's needed space is approximated by only one circle around the reference point. Finally, we analyze the influence of the reference point on a lateral feed-forward controller. Thus, we confirm the previously chosen reference point on the front axle for the equally distributed needed lane width and therefore recommend its use. |
| Freie Schlagworte: | Reference point, automated vehicles, bicycle model, collision check |
| Status: | Postprint |
| URN: | urn:nbn:de:tuda-tuprints-216258 |
| Sachgruppe der Dewey Dezimalklassifikatin (DDC): | 600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften und Maschinenbau |
| Fachbereich(e)/-gebiet(e): | 16 Fachbereich Maschinenbau 16 Fachbereich Maschinenbau > Fachgebiet Fahrzeugtechnik (FZD) 18 Fachbereich Elektrotechnik und Informationstechnik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik > Regelungsmethoden und Robotik (ab 01.08.2022 umbenannt in Regelungsmethoden und Intelligente Systeme) |
| Hinterlegungsdatum: | 08 Jul 2022 12:08 |
| Letzte Änderung: | 11 Jul 2022 06:28 |
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| Suche nach Titel in: | TUfind oder in Google |
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- Ideal Reference Point in Planning and Control for Automated Car-Like Vehicles. (deposited 08 Jul 2022 12:08) [Gegenwärtig angezeigt]
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