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Titel:

A Hybrid Trajectory Planning Approach for Autonomous Rule-Compliant Multi-Vehicle Oval Racing

Dokumenttyp:
Zeitschriftenaufsatz
Autor(en):
Ögretmen, L.; Rowold, M.; Betz, T.; Langmann, A.; Lohmann, B.
Abstract:
Motion planning for autonomous vehicles remains challenging, especially in environments with multiple vehicles and high speeds. Autonomous racing offers an opportunity to develop algorithms that can deal with such situations and adds the requirement of following race rules. We propose a hybrid local planning approach capable of generating rule-compliant trajectories at the dynamic limits for multi-vehicle oval racing. The planning method is based on a spatiotemporal graph, which is searched in a...     »
Stichworte:
Trajectory control; Autonomous vehicles; Planning / scheduling; Racing vehicles; Mathematical models; Drive-by-wire; Level 5 (Full driving automation)
Dewey Dezimalklassifikation:
620 Ingenieurwissenschaften
Zeitschriftentitel:
SAE International Journal of Connected and Automated Vehicles
Jahr:
2023
Band / Volume:
7(1)
Jahr / Monat:
2023-07
Quartal:
3. Quartal
Monat:
Jul
Heft / Issue:
12-07-01-0007
Reviewed:
ja
Sprache:
en
Volltext / DOI:
doi:10.4271/12-07-01-0007
WWW:
https://doi.org/10.4271/12-07-01-0007
Print-ISSN:
2574-0741
E-ISSN:
2574-075X
Status:
Erstveröffentlichung
Publikationsdatum:
01.07.2023
Semester:
SS 23
TUM Einrichtung:
Lehrstuhl für Regelungstechnik
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