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- W3021289997 abstract "For lateral vehicle dynamics, planning trajectories for lane-keeping and lane-change can be generalized as a path planning task to stabilize a vehicle onto a target lane, which is a fundamental element in nowadays autonomous driving systems. On the other hand, two-point steering for lane-change and lane-keeping has been investigated by researchers from psychology as a sensorimotor mechanism of human drivers. In the first part of this paper, using knowledge of geometric control, we will first design a path planner which satisfies five design objectives: generalization for different vehicle models, convergence to the target lane, optimality, safety in lane-change maneuver and low computational complexity. Later, based on this path planner, a two-point steering path planner will be proposed and it will be proved rigorously that this two-point steering path planner possesses the advantage--steering radius of the planned trajectory is smaller than the intrinsic radius of reference line of the target lane. This advantage is also described as corner-cutting in driving. The smaller driving radius of the trajectory will result in higher vehicle speed along the winding roads and more comfortness for the passengers." @default.
- W3021289997 created "2020-05-13" @default.
- W3021289997 creator A5058847164 @default.
- W3021289997 date "2019-03-06" @default.
- W3021289997 modified "2023-09-27" @default.
- W3021289997 title "Design of A Two-point Steering Path Planner Using Geometric Control" @default.
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