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Ideal Reference Point in Planning and Control for Automated Car-Like Vehicles

Popp, Christoph ; Ziegler, Christoph ; Sippel, Marco ; Winner, Hermann (2022)
Ideal Reference Point in Planning and Control for Automated Car-Like Vehicles.
In: IEEE Transactions on Intelligent Vehicles, 2022
doi: 10.26083/tuprints-00021625
Article, Secondary publication, Postprint

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Item Type: Article
Type of entry: Secondary publication
Title: Ideal Reference Point in Planning and Control for Automated Car-Like Vehicles
Language: English
Date: 2022
Place of Publication: Darmstadt
Year of primary publication: 2022
Publisher: IEEE
Journal or Publication Title: IEEE Transactions on Intelligent Vehicles
Collation: 10 Seiten
DOI: 10.26083/tuprints-00021625
Corresponding Links:
Origin: Secondary publication
Abstract:

The choice of the reference point in automated vehicles impacts the vehicle's driving behavior. However, this influence is often not considered for planning and control tasks. To find out where the reference point should be located best, we first consider its position to be ideal if the needed lane width on the left and right side of the planned path is equal when cornering with constant curvature. For constantly curved paths we derive the ideal reference point depending on the curvature, using the kinematics of a slip angle free bicycle model. For non-stationary cornering, we analyze different maneuvers and finally, we select the reference point on the front axle. Utilizing this knowledge, the extent of a forward moving vehicle can be reduced to a point model, which does not require the orientation of the vehicle. This enables a simple and still promising approach for collision checking, where the vehicle's needed space is approximated by only one circle around the reference point. Finally, we analyze the influence of the reference point on a lateral feed-forward controller. Thus, we confirm the previously chosen reference point on the front axle for the equally distributed needed lane width and therefore recommend its use.

Uncontrolled Keywords: Reference point, automated vehicles, bicycle model, collision check
Status: Postprint
URN: urn:nbn:de:tuda-tuprints-216258
Classification DDC: 600 Technology, medicine, applied sciences > 620 Engineering and machine engineering
Divisions: 16 Department of Mechanical Engineering > Institute of Automotive Engineering (FZD)
18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Robotics (from 01.08.2022 renamed Control Methods and Intelligent Systems)
Date Deposited: 08 Jul 2022 12:08
Last Modified: 18 Aug 2022 06:01
URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/21625
PPN: 49827425X
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