Challenges of Trajectory Planning with Integrator Models on Curved Roads. Issue 2 (2020)

• Record Type: Journal Article
• Authors: Eilbrecht, Jan; Stursberg, Olaf
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 2(2020)
• Page Start: 15588
• Page End: 15595
• Publication Date: 2020
• Subjects: Autonomous driving -- trajectory planning -- vehicle dynamic systems -- constrained control; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2020.12.2492
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In the context of trajectory planning for autonomous vehicles, a widely used vehicle model relies on linear integrator dynamics. We consider planning with this model type, with a focus on the requirement to account for curved road topologies. As our analysis reveals, this generally gives rise to non-convex, coupled constraints on the vehicle's states and inputs, which impedes computationally efficient planning. We propose a method to resolve this issue by modification of the non-convex constraints. This modification is based on inner approximations of sub-level sets of nonlinear functions, which are obtained by quantifier elimination. The efficacy of the method is demonstrated in two example scenarios.