Segmentation and Merging of Autonomous At-the-Limit Maneuvers for Ground Vehicles
(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:
https://lup.lub.lu.se/record/db55804b-4a20-46e9-83a7-374b469e438c
- author
- Anistratov, Pavel ; Olofsson, Björn LU and Nielsen, Lars
- publishing date
- 2018
- 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}}, }