Jian Niu
ABSTRACT
Autonomous vehicle has been one of the most active study with the potential to enhance safety and convenience. As one of the safety-critical tasks that must be executed by autonomous vehicle, the motion planning is generally divided into path planning and velocity planning. The main purpose of velocity planning is to determine a safe and comfortable velocity change mode for autonomous vehicle, which is a crucial task. A velocity planning method based on pre-set model is proposed in this paper. The exponential function model with undetermined parameters is constructed as the velocity planning model in this method. We take comfort and time-effectiveness as evaluation indexes and construct model functions respectively, and the objective function is constructed in the form of weighted sum to determine the optimal parameters of the velocity planning model in each scenario. The exponential model is suitable for most application scenes, and its closed form expression form is easy to implement in real-time applications. By analysis with actual data, the model is proved to be reasonable.
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Index Terms
- Velocity Planning for Autonomous Vehicle
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