Navigation-based constrained trajectory generation for advanced driver assistance systems
Jérémie Daniel, Abderazik Birouche, Jean-Philippe Lauffenburger, Michel Basset · International Journal of Vehicle Autonomous Systems · 2011
This paper presents a new approach to constrained trajectory generation dedicated to Advanced Driver Assistance Systems (ADAS). Based on the information provided by the digital map database of a navigation system, the proposed solution is devoted to a control-oriented trajectory generation approach taking account of constraints which limit the behaviour of a common car, relative to the road to be followed and finally linked to the driver. Characteristically, these trajectories stay within the traffic lane borders; at the same time, they minimise the energy along the path, and finally, they are curvature continuous. The present trajectory generation has been tested on a specific test track and the results show the efficiency of the proposed solution.