Stable Timed Elastic Bands with Loose Ends

Fritz Ulbrich , Daniel Göhring, Tobias Langner, Zahra Boroujeni, Raúl Rojas – 2017

In this paper we propose a trajectory planning approach for autonomous vehicles in highly dynamic traffic scenarios, capable of exploiting the observed trajectories of other vehicles. For this purpose, we introduce a novel variant of the timed elastic bands (TEB) approach by using fixed time intervals and a flexible goal position. We tested our method with a simulated merge-into-traffic scenario and compare it to a reference TEB implementation with focus on the impact of important parameters and the stability of planned trajectories. The results show that our method is an improvement over TEB in terms trajectory smoothness and stability.

Titel
Stable Timed Elastic Bands with Loose Ends
Verlag
IEEExplore
Schlagwörter
Trajectory, Planning, Vehicle dynamics, Acceleration, Linear programming, Optimization
Datum
2017-06
Kennung
DOI: 10.1109/IVS.2017.7995718; ISBN: 978-1-5090-4804-5
Erschienen in
Proceedings of the IEEE Intelligent Vehicles Symposium (IV), June 11-14, 2017, Redondo Beach, CA, USA
Größe oder Länge
7 pages
Rechte
Copyright by IEEE. When citing this work, cite the original link.