期刊
ELECTRONICS
卷 11, 期 12, 页码 -出版社
MDPI
DOI: 10.3390/electronics11121866
关键词
vehicle following; path following; path tracking; splines; spline approximation
资金
- COMET K2 Competence Centers for Excellent Technologies from the Austrian Federal Ministry for Climate Action (BMK)
- Austrian Federal Ministry for Digital and Economic Affairs (BMDW)
- Province of Styria
- Styrian Business Promotion Agency (SFG)
This paper addresses the problem of guiding a vehicle through unstructured environments using an external leader. The proposed trajectory-following approach estimates the leader's path and uses a spline-approximation technique to obtain a smooth reference path. A constant time-headway policy is implemented for longitudinal tracking. The algorithm is tested in a simulation framework and validated in a demonstrator vehicle under real operating conditions, using on-board sensors for data collection.
In this paper, the problem of vehicle guidance by means of an external leader is described. The objective is to navigate a four-wheeled vehicle through unstructured environments, characterized by the lack of availability of typical guidance infrastructure like lane markings or HD maps. The trajectory-following approach is based on an estimate of the leader's path. For that, position measurements are stored over time with respect to an inertial frame. A new strategy is proposed to rate the significance of position measurements and ensure that a certain threshold of stored samples is not exceeded. Having an estimate of the leader path is essential to prevent the cutting-corner phenomenon and for exact path following in general. A spline-approximation technique is applied to obtain a smooth reference path for the underlying lateral and longitudinal motion controllers. For longitudinal tracking, a constant time-headway policy was implemented, to follow the leader with a constant time gap along the estimated path. The algorithm was first developed and tested in a simulation framework and then deployed in a demonstrator vehicle for validation under real operating conditions. The presented experimental results were achieved using only on-board sensors of the demonstrator vehicle, while high-accuracy differential GPS-based position measurements serve as the ground truth data for visualization.
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