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Segmentation and Merging of Autonomous At-the-Limit Maneuversfor Ground Vehicles

To decrease the complexity of motion-planning optimizations, a segmentation and merging strategy for maneuvers is proposed. Maneuvers that are at-the-limit of friction are of special interest since they appear in many critical situations. The segmentation pointsare used to set constraints for several smaller optimizations for parts of the full maneuver, which later are merged and compared withoptimizations of the full maneuver. The technique is illustrated for a double lane-change maneuver.

Pavel Anistratov, Björn Olofsson and Lars Nielsen


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