TY - GEN
T1 - State-statistical model based trajectory-band planning in urban environment
AU - Ma, Chao
AU - Yang, Jing
AU - Xue, Jianru
AU - Liu, Yuehu
AU - Ma, Liang
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/8/26
Y1 - 2015/8/26
N2 - In the traditional trajectory planning methods, a feasible, collision-free trajectory is generated to guide the vehicle. But generally the vehicle cannot follow the trajectory without tracking deviation because of the vehicle kinematical constraints and the performance of control algorithm. In this paper, State-Statistical Model (SSM) based trajectory-band planning method is proposed to predict the vehicle motion during the vehicle tracks the trajectory. In this method, the statistics of historical states are used to build the SSM which is a normal distribution model of tracking deviation in different segments of curvature radius and velocity. According to the SSM, the inaccessible states of vehicle can be obtained to search the best trajectory and the tracking deviation boundary can be calculated on the trajectory. Then the best trajectory is used as the base line to generate the trajectory-band of which the halfband width is the deviation boundary value. As a result, the trajectory-band can represent the maximum range of vehicle motion accurately.
AB - In the traditional trajectory planning methods, a feasible, collision-free trajectory is generated to guide the vehicle. But generally the vehicle cannot follow the trajectory without tracking deviation because of the vehicle kinematical constraints and the performance of control algorithm. In this paper, State-Statistical Model (SSM) based trajectory-band planning method is proposed to predict the vehicle motion during the vehicle tracks the trajectory. In this method, the statistics of historical states are used to build the SSM which is a normal distribution model of tracking deviation in different segments of curvature radius and velocity. According to the SSM, the inaccessible states of vehicle can be obtained to search the best trajectory and the tracking deviation boundary can be calculated on the trajectory. Then the best trajectory is used as the base line to generate the trajectory-band of which the halfband width is the deviation boundary value. As a result, the trajectory-band can represent the maximum range of vehicle motion accurately.
UR - https://www.scopus.com/pages/publications/84950991513
U2 - 10.1109/IVS.2015.7225718
DO - 10.1109/IVS.2015.7225718
M3 - 会议稿件
AN - SCOPUS:84950991513
T3 - IEEE Intelligent Vehicles Symposium, Proceedings
SP - 400
EP - 405
BT - IV 2015 - 2015 IEEE Intelligent Vehicles Symposium
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE Intelligent Vehicles Symposium, IV 2015
Y2 - 28 June 2015 through 1 July 2015
ER -