Local Trajectory Planning for Lane Change Based on Global Waypoint Map
- Title
- Local Trajectory Planning for Lane Change Based on Global Waypoint Map
- Author
- 정정주
- Keywords
- Autonomous vehicles; Vehicle lateral motion control; Lane change control; Trajectory planning; Waypoint tracking
- Issue Date
- 2020-09
- Publisher
- SICE Annual Conference 2020
- Citation
- 2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), page. 530-535
- Abstract
- In this paper, we propose a novel methodology of local trajectory planning (LTP) for a lane-change maneuver during a path tracking control. We designed the lane-change trajectory between two different paths, which given in the form of waypoints. Then, a trajectory tracking controller was employed. To validate the proposed LTP method, we collected the waypoint data by an actual driving and used the data for the lane change simulation. In the experiment, we used full-state feedback control for lateral motion. To investigate the improved performance by the proposed method, we also made a comparative study between the proposed method and a simple lane-change method without LTP. We observed that the proposed method showed even stable lane-change performance than the method without LTP.
- URI
- https://ieeexplore.ieee.org/document/9240397?arnumber=9240397&SID=EBSCO:edseeehttps://repository.hanyang.ac.kr/handle/20.500.11754/170552
- ISBN
- 978-1-7281-1089-9
- DOI
- 10.23919/SICE48898.2020.9240397
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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