Optimal trajectories for time-critical street scenarios using discretized terminal manifolds
Moritz Werling, Sören Kammel, Julius Ziegler, Lutz Gröll · The International Journal of Robotics Research · 2011
This paper deals with the trajectory generation problem faced by an autonomous vehicle in moving traffic. Being given the predicted motion of the traffic flow, the proposed semi-reactive planning strategy realizes all required long-term maneuver tasks (lane-changing, merging, distance-keeping, velocity-keeping, precise stopping, etc.) while providing short-term collision avoidance. The key to comfortable, human-like as well as physically feasible trajectories is the combined optimization of the lateral and longitudinal movements in street-relative coordinates with carefully chosen cost functionals and terminal state sets (manifolds). The performance of the approach is demonstrated in simulated traffic scenarios.