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Optimized trajectory planning for Cybernetic Transportation Systems

机译：控制论运输系统的优化轨迹规划

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This paper describes the development of an optimized path planning algorithm for automated vehicles in urban environments. This path planning is developed on the basis of urban environments, where Cybernetic Transportation Systems (CTS) will operate. Our approach is mainly affected by vehicle’s kinematics and physical road constraints. Based on this assumptions, computational time for path planning can be significantly reduced by creating an off-line database that already optimized all the potential trajectories in each curve the CTS can carry out. Therefore, this algorithm generates a database of smooth and continuous curves considering a big set of different intersection scenarios, taking into account the constraints of the infrastructure and the physical limitations of the vehicle. According to the real scenario, the local planner selects from the database the appropriate curves from searching for the ones that fit with the intersections defined on it. The path planning algorithm has been tested in simulation using the previous control architecture. The results obtained show path generation improvements in terms of smoothness and continuity. Finally, the proposed algorithm was compared with previous path planning algorithms for its assessment.
机译：本文介绍了针对城市环境中自动驾驶汽车的优化路径规划算法的开发。此路径规划是根据将运行控制论运输系统（CTS）的城市环境制定的。我们的方法主要受到车辆运动学和物理道路限制的影响。基于此假设，可以通过创建一个离线数据库来显着减少路径规划的计算时间，该数据库已经优化了CTS可以执行的每条曲线中的所有潜在轨迹。因此，考虑到基础设施的约束和车辆的物理限制，此算法会在考虑大量不同的交叉路口场景的情况下生成平滑且连续的曲线的数据库。根据实际情况，本地规划人员从数据库中选择合适的曲线，以搜索与在其上定义的交点相符的曲线。路径规划算法已使用先前的控制体系结构在仿真中进行了测试。获得的结果表明，在平滑性和连续性方面，路径生成得到了改善。最后，将提出的算法与以前的路径规划算法进行了评估。

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