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Experimental Validation of Online Motion Planning for Semi-Autonomous Vehicles

Winter, Christoph and de Castro, Ricardo and Bünte, Tilman (2022) Experimental Validation of Online Motion Planning for Semi-Autonomous Vehicles. In: 2022 IEEE Vehicle Power and Propulsion Conference, VPPC 2022. IEEE Vehicle Power and Propulsion, 2022-11-01 - 2022-11-04, Merced, USA. doi: 10.1109/VPPC55846.2022.10003270. ISBN 978-166547587-7. ISSN 1938-8756.

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Official URL: https://ieeexplore.ieee.org/abstract/document/10003270


This work describes the optimization of paths and velocity profiles for the usage in semi-autonomous vehicles. The focus of the optimization lies on an energy efficient motion while considering the driver’s longitudinal demands. The trade-off between travel time and energy consumption of the vehicle can be directly chosen by the driver. With help of a nonlinear model predictive control framework the global optimum of the velocity optimization with nonlinear constraints based on the vehicle’s physical limits is found. The online path planner together with the online velocity planner provide the input to the underlying vehicle’s control modules, as a basis for automated driving. The effectiveness of the proposed approach is shown via hardware-in-the-loop tests and real-world driving tests.

Item URL in elib:https://elib.dlr.de/189456/
Document Type:Conference or Workshop Item (Speech)
Title:Experimental Validation of Online Motion Planning for Semi-Autonomous Vehicles
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Winter, ChristophUNSPECIFIEDhttps://orcid.org/0000-0002-6949-303XUNSPECIFIED
de Castro, RicardoUNSPECIFIEDhttps://orcid.org/0000-0002-5546-3999UNSPECIFIED
Bünte, TilmanUNSPECIFIEDhttps://orcid.org/0000-0002-7214-5183UNSPECIFIED
Journal or Publication Title:2022 IEEE Vehicle Power and Propulsion Conference, VPPC 2022
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:path planning, velocity planning, energy optimization, nonlinear MPC, dynamic programming
Event Title:IEEE Vehicle Power and Propulsion
Event Location:Merced, USA
Event Type:international Conference
Event Start Date:1 November 2022
Event End Date:4 November 2022
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Intelligent Mobility (SR) [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Vehicle System Dynamics
Deposited By: Winter, Christoph
Deposited On:17 Nov 2022 15:24
Last Modified:24 Apr 2024 20:50

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