Method of planning a reference trajectory of a single lane change manoeuver with Bezier curve

For a comprehensive simulation of vehicle steering process it is vital to model the decision process of planning a trajectory shape and process of the selected trajectory. A single lane change manoeuver is only slightly restricted by the road geometry. There are also other requirements of a possible...

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Bibliographic Details
Published in:IOP conference series. Materials Science and Engineering 2016-09, Vol.148 (1), p.12012
Main Authors: Korzeniowski, D, laski, G
Format: Article
Language:English
Subjects:
Curvature
Curves
Lane changing
Mathematical models
Optimization
Parameters
Passenger comfort
Steering
Trajectory planning
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Summary:For a comprehensive simulation of vehicle steering process it is vital to model the decision process of planning a trajectory shape and process of the selected trajectory. A single lane change manoeuver is only slightly restricted by the road geometry. There are also other requirements of a possible trajectory of movement, such as the continuity of change (derivative) of curvature, maximizing the passenger's comfort measured with appropriate indicators based on variables of motion dynamics or parameters of motion trajectory which influence that dynamic. This article presents a suggested method of automatic generation of trajectory of single lane change manoeuver. The proposed method can be used as an integral part of driver models and is based on a combination of two symmetrical Bezier curves optionally supplemented with a straight lane connector. The method meets the requirements of a trajectory shape, which results from optimizing the value of parameters controlling Bezier curve based on minimizing the curvature and the resulting lateral acceleration while preserving the continuity of curvature derivative of the planned trajectory.
ISSN:1757-8981
1757-899X
DOI:10.1088/1757-899X/148/1/012012