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Conference Paper
Trajectory Generation Method Using Bezier Spiral Curves for High-Speed On-Road Autonomous Vehicles
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- Authors
- Byungjae Park, Yu-Cheol Lee, Woo Yong Han
- Issue Date
- 2014-08
- Citation
- International Conference on Automation Science and Engineering (CASE) 2014, pp.927-932
- Language
- English
- Type
- Conference Paper
- Abstract
- This paper proposes a trajectory generation method for high-speed autonomous vehicles in a structured on-road environment, such as a highway. The proposed method generates a smooth trajectory using G2 cubic B챕zier spiral smoothing, based on the current trajectory and the centerline model of a desired lane, and the velocity profile of the trajectory. Using the proposed method, an on-road vehicle can follow or change lanes safely. The performance of the proposed method was confirmed by offline experiments using a real data set and online experiments in a real environment.
- KSP Keywords
- Autonomous vehicle, Data sets, High Speed, On-road vehicle, Online experiments, Real data, Real environment, Smooth trajectory, Trajectory generation method, Velocity profiles, road environment