TU Darmstadt / ULB / TUprints

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. (Postprint)
In: IEEE Transactions on Intelligent Vehicles, IEEE, ISSN 2379-8858, e-ISSN 2379-8904,
DOI: 10.26083/tuprints-00021625,

[img] Text
Copyright Information: In Copyright.

Download (1MB)
Item Type: Article
Origin: Secondary publication
Status: Postprint
Title: Ideal Reference Point in Planning and Control for Automated Car-Like Vehicles
Language: English

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.

Journal or Publication Title: IEEE Transactions on Intelligent Vehicles
Place of Publication: Darmstadt
Publisher: IEEE
Collation: 10 Seiten
Uncontrolled Keywords: Reference point, automated vehicles, bicycle model, collision check
Classification DDC: 600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften
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
DOI: 10.26083/tuprints-00021625
Corresponding Links:
URN: urn:nbn:de:tuda-tuprints-216258
URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/21625
PPN: 49827425X
Actions (login required)
View Item View Item