Journal
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
Volume 23, Issue 7, Pages 8194-8208Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TITS.2021.3076813
Keywords
Autonomous vehicles; motion planning; jerk-limited speed planning; comfortable automated driving
Categories
Funding
- Spanish Ministry of Science and Innovation
- National Projects Programmable Systems for Intelligence in Automobiles (PRYSTINE) and Integrated, Fail-Operational, Cognitive Perception, Planning and Control Systems for Highly Automated Vehicles (NEWCONTROL) [PCI2018-092928, PCI2019-103791]
- Community of Madrid [S2018-EMT-4362]
- European Commission
- Electronic Components and Systems for European Leadership (ECSEL) Joint Undertaking through the Project PRYSTINE [783190]
- Project NEWCONTROL [826653]
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This study introduces a human-like speed planning method for minimizing travel time on predefined paths, which has been tested and validated through experiments on real environments.
Both path and speed planning play key roles in automated driving, specially when a certain comfort level is required. This paper proposes a human-like speed planning method for already defined paths while minimizing travel time. The proposed method is able to compute a time-optimal speed profile that meet the given constrains with regard to speed, acceleration and jerk. For this purpose, an initial acceleration-limited approach is introduced. This algorithm serves as a starting point for the subsequent jerk-limited speed planning. Moreover, fallback strategies are included to manage critical driving situations where initial or final conditions cannot be met. The proposed approach has been tested and validated in an experimental platform through extensive trials in real environments. Its performance has been evaluated both in terms of quality of the computed speed profiles and with respect the required computing time.
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