Jerk-Limited Time-Optimal Speed Planning for Arbitrary Paths

Both path and speed planning play key roles in automated driving, specially when a certain comfort level is required. This paper proposes a human-like speed planning method for already defined paths while minimizing travel time. The proposed method is able to compute a time-optimal speed profile tha...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on intelligent transportation systems 2022-07, Vol.23 (7), p.8194-8208
Main Authors: Artunedo, Antonio, Villagra, Jorge, Godoy, Jorge
Format: Article
Language:English
Subjects:
Acceleration
Algorithms
Autonomous vehicles
Bicycles
comfortable automated driving
Computing time
jerk-limited speed planning
Kinematics
motion planning
Optimization
Planning
Trajectory
Travel time
Vehicle dynamics
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Both path and speed planning play key roles in automated driving, specially when a certain comfort level is required. This paper proposes a human-like speed planning method for already defined paths while minimizing travel time. The proposed method is able to compute a time-optimal speed profile that meet the given constrains with regard to speed, acceleration and jerk. For this purpose, an initial acceleration-limited approach is introduced. This algorithm serves as a starting point for the subsequent jerk-limited speed planning. Moreover, fallback strategies are included to manage critical driving situations where initial or final conditions cannot be met. The proposed approach has been tested and validated in an experimental platform through extensive trials in real environments. Its performance has been evaluated both in terms of quality of the computed speed profiles and with respect the required computing time.
ISSN:1524-9050
1558-0016
DOI:10.1109/TITS.2021.3076813