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Segmentation and Merging of Autonomous At-the-Limit Maneuversfor Ground Vehicles
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0003-1320-032X
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
2018 (English)In: Proceedings of the 14th International Symposium on Advanced Vehicle Control, Beijing, July 16-20, 2018, 2018Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
2018.
Keywords [en]
vehicle automation and control, ground vehicle motion-planning, aggressive maneuvers
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-152222OAI: oai:DiVA.org:liu-152222DiVA, id: diva2:1257576
Conference
International Symposium on Advanced Vehicle Control
Available from: 2018-10-22 Created: 2018-10-22 Last updated: 2018-11-27

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Olofsson, BjörnNielsen, Lars

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