Title :
Fast lane changing computations using polynomials
Author :
Papadimitriou, Iakovos ; Tomizuka, Masayoshi
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Abstract :
This paper presents a fast lane changing algorithm for intelligent vehicle highway systems. The algorithm is based on the use of polynomials for trajectory planning and the use of simplified s-topes for obstacle representation. Dynamic constraints are also taken into account. The resulting criterion for the selection of the desired and achievable trajectory involves the selection of a single coefficient. Illustrative examples show the main advantages of the algorithm especially in the case of lane changing with multiple obstacles.
Keywords :
automated highways; control engineering computing; path planning; polynomials; position control; dynamic constraints; fast lane changing algorithm; intelligent vehicle highway systems; obstacle representation; polynomials; s-topes; single coefficient selection; trajectory planning; Acceleration; Intelligent vehicles; Mechanical engineering; Polynomials; Road transportation; Shape; Trajectory; Vehicle detection; Vehicle dynamics; Vehicle safety;
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
Print_ISBN :
0-7803-7896-2
DOI :
10.1109/ACC.2003.1238912
