Optimal trajectories for time-critical street scenarios using discretized terminal manifolds

Authors:
Moritz Werling;Sören Kammel;Julius Ziegler;Lutz Gröll
Affiliations:
Department of Applied Computer Science and Automation (AIA), Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany, BMW Group Research and Technology, Munich, Germany;Robert Bosch LLC Research and Technology Center, Palo Alto, California, USA;Department of Measurement and Control (MRT), Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany;Department of Applied Computer Science (IAI), Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany
Venue:
International Journal of Robotics Research
Year:
2012

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Abstract

This paper deals with the trajectory generation problem faced by an autonomous vehicle in moving traffic. Being given the predicted motion of the traffic flow, the proposed semi-reactive planning strategy realizes all required long-term maneuver tasks (lane-changing, merging, distance-keeping, velocity-keeping, precise stopping, etc.) while providing short-term collision avoidance. The key to comfortable, human-like as well as physically feasible trajectories is the combined optimization of the lateral and longitudinal movements in street-relative coordinates with carefully chosen cost functionals and terminal state sets (manifolds). The performance of the approach is demonstrated in simulated traffic scenarios.