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

机译：非完整车辆的确定性轨迹规划，包括路况，安全性和舒适性因素

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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.
机译：确定性和实时性的安全舒适的速度曲线计算是本文的主题。利用车辆的特性和道路特性（例如摩擦和道路倾斜），可以计算出翻车和打滑的安全极限，并将其应用到轨迹规划中。为了满足舒适度标准并获得平稳的速度曲线，在速度规划算法中限制了车辆的加速度和加速度。对于速度计划者，基于A *的搜索方法用于计算与最短行驶时间相对应的速度曲线。为了避免固定和移动的障碍，使用了分离的优先计划。物理模型用于定义速度计划器中车辆的行为，其中混动是速度计划器的主要参数。物理模型使算法能够考虑安全性和舒适性限制。将搜索方法获得的结果与不同测试场景中的最佳解决方案进行比较，比较结果表明了该算法的特性。

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