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2020 | OriginalPaper | Chapter

Search-Based Motion Planning for Performance Autonomous Driving

Authors : Zlatan Ajanovic, Enrico Regolin, Georg Stettinger, Martin Horn, Antonella Ferrara

Published in: Advances in Dynamics of Vehicles on Roads and Tracks

Publisher: Springer International Publishing

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Abstract

Driving on the limits of vehicle dynamics requires predictive planning of future vehicle states. In this work, a search-based motion planning is used to generate suitable reference trajectories of dynamic vehicle states with the goal to achieve the minimum lap time on slippery roads. The search-based approach enables to explicitly consider a nonlinear vehicle dynamics model as well as constraints on states and inputs so that even challenging scenarios can be achieved in a safe and optimal way. The algorithm performance is evaluated in simulated driving on a track with segments of different curvatures. Our code is available at https://​git.​io/​JenvB.

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Metadata
Title
Search-Based Motion Planning for Performance Autonomous Driving
Authors
Zlatan Ajanovic
Enrico Regolin
Georg Stettinger
Martin Horn
Antonella Ferrara
Copyright Year
2020
Book
Advances in Dynamics of Vehicles on Roads and Tracks

Print ISBN: 978-3-030-38076-2

Electronic ISBN: 978-3-030-38077-9

Copyright Year: 2020

DOI
https://doi.org/10.1007/978-3-030-38077-9_134

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