A path planning method with specification of curvatures of boundary conditions based on clothoidalal curve elements

• ARITA Shunsaku

  Tokyo University of Agriculture and Technology

• RAKSINCHAROENSAK Pongsathorn

  Tokyo University of Agriculture and Technology

Bibliographic Information

Other Title

• クロソイド曲線による初期と終端の曲率が指定可能な経路生成手法

Abstract

Path planning is essential for the autonomous driving or advanced driver assistance systems. Efficiency and ride comfort of vehicles is achieved by path planning using smooth reference paths where there is no discontinuity. If we want to ensure the continuity at the connecting points of sequentially generated paths, it is necessary that the curvature at the endpoints of each paths can be specified. In this research, the method to generate such a smooth path is proposed. The proposed paths are composed of three clothoid curves, which have same length and are connected with no discontinuity of curvatures and tangent angles. It is shown that the proposed method can generate a path in at most a few iterations and that the path can be easily tracked by using curvature information. A discussion of preferable combinations of path generating method and path tracking method is also given.

Journal

• Transactions of the JSME (in Japanese)

  Transactions of the JSME (in Japanese) 85 (878), 19-00090-19-00090, 2019

  The Japan Society of Mechanical Engineers

Keywords

• Autonomous driving vehicle
• Path plannig
• Clothoid curve
• Curvature specification
• Path tracking

Details

• CRID: 1390564227327719040
• NII Article ID: 130007733823
• DOI: 10.1299/transjsme.19-00090
• ISSN: 21879761
• Web Site: https://www.jstage.jst.go.jp/article/transjsme/85/878/85_19-00090/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed