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Segmentation and Merging of Autonomous At-the-Limit Maneuvers for Ground Vehicles

Anistratov, Pavel ; Olofsson, Björn LU and Nielsen, Lars (2018) 14th International Symposium on Advanced Vehicle Control (AVEC)
Abstract
To decrease the complexity of motion-planning optimizations, a segmentation and merging strategy for maneuvers is proposed. Maneuvers that are at-the-limit of friction are of special interest since they appear in many critical situations. The segmentation pointsare used to set constraints for several smaller optimizations for parts of the full maneuver, which later are merged and compared withoptimizations of the full maneuver. The technique is illustrated for a double lane-change maneuver.
Please use this url to cite or link to this publication:
author
; and
publishing date
type
Contribution to conference
publication status
published
subject
conference name
14th International Symposium on Advanced Vehicle Control (AVEC)
conference location
Beijing, China
conference dates
2018-07-16 - 2018-07-20
project
ELLIIT LU P11: Online Optimization and Control towards Autonomous Vehicle Maneuvering
language
English
LU publication?
no
id
db55804b-4a20-46e9-83a7-374b469e438c
alternative location
http://urn.kb.se/resolve?urn=urn%3Anbn%3Ase%3Aliu%3Adiva-152222
date added to LUP
2023-01-28 20:44:43
date last changed
2023-01-30 10:04:33
@misc{db55804b-4a20-46e9-83a7-374b469e438c,
  abstract     = {{To decrease the complexity of motion-planning optimizations, a segmentation and merging strategy for maneuvers is proposed. Maneuvers that are at-the-limit of friction are of special interest since they appear in many critical situations. The segmentation pointsare used to set constraints for several smaller optimizations for parts of the full maneuver, which later are merged and compared withoptimizations of the full maneuver. The technique is illustrated for a double lane-change maneuver.}},
  author       = {{Anistratov, Pavel and Olofsson, Björn and Nielsen, Lars}},
  language     = {{eng}},
  title        = {{Segmentation and Merging of Autonomous At-the-Limit Maneuvers for Ground Vehicles}},
  url          = {{http://urn.kb.se/resolve?urn=urn%3Anbn%3Ase%3Aliu%3Adiva-152222}},
  year         = {{2018}},
}