Optimal Trajectory Generation for Discretized Terminal Conditions based on Reference Lines
Huachao Yu, Jingyi Li, Zhao Xijun · 2020 3rd International Conference on Unmanned Systems (ICUS) · 2020
In the paper, optimal trajectory generation method is proposed, which produces trajectories approaching the target location with smooth accelerations and continuous curvatures, fulfilling the vehicle kinematic restrictions. Firstly, a fixed number of alternative trajectories are generated in the Frenet-Serret Frame via initial and terminal states of motion based on a global path which is acquired by global path planning in a topological map. These meet the requirement of comfortability and feasibility for autonomous driving. And then the best trajectory is chosen from alternatives as optimal trajectory with a small cost in association with non-holonomic vehicle constraints and obstacle avoidance. The proposed method satisfies distance-keeping, velocity-keeping, collision-avoiding, etc. The performance of the approach is verified by practical experiments at last.