Journal
IEEE ACCESS
Volume 10, Issue -, Pages 81434-81446Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2022.3193667
Keywords
Splines (mathematics); Roads; Planning; Optimization; Interpolation; Trajectory; Navigation; Roundabout; geometry elements; path planning; B-spline
Categories
Funding
- National Research Development and Innovation Fund, TKP2020 National Challenges Subprogram through TKP2020 National Challenges Subprogram based on the charter of bolster through Ministry for Innovation and Technology [BME-NC]
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This paper presents a parametric B-spline-based path planning approach for roundabout exit traverse planners to handle successively generated trajectories. It discusses the advantages of B-splines in curve road conditions and the impact of roundabout geometry elements on path planning performance. The paper also summarizes the roundabout design standards of four countries and the notable impacts of geometric structure on the paths. The maneuver system framework and the steering behavior calculation using the Stanley tracking controller are explained in detail.
This paper presents a parametric B-spline-based path planning approach for roundabout exit traverse planners to handle successively generated trajectories. A roundabout is a complex driving scene because of its large curvature and the varying intersection leg angles. A few studies focus on the relationship between roundabout intersection leg angle and path performance. This paper discusses B-spline advantages to curve road conditions and the impact of roundabout geometry elements on path planning performance. Knot vectors are defined, and control points are calculated to meet the requirements for generating paths that fit in different roundabout direction maneuvers. Four countries' roundabout design standards are summarized with their unique geometry elements. Additionally, the Stanley tracking controller was used to calculate the steering behavior. The impacts of maneuver directions and intersection angles are discussed. It is explained stepwise how the maneuver system framework was built and what notable impacts the geometric structure of the roundabout has on the paths.
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