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- W4313125519 abstract "This paper presents a hybrid trajectory planning strategy with interpolation curve optimization method under the constraints of collision avoidance and vehicle dynamics. With an objective function consisting of a weighted sum of comfort and efficiency, the cubic polynomial curve is firstly optimized under the initial state and the terminal state constraints to generate a reference trajectory. Then, in order to generate collision-free trajectory, lateral and longitudinal turning factors are introduced to cluster the reference trajectory. According to the dimension relationship between vehicle and road, the maximum lane change distance and the maximum turning curvature, the number of trajectories in the cluster is constrained. Furthermore, an algorithm is designed to detect the collision of the trajectories. The priority of the trajectories is defined to determine the optimal trajectory. Finally, a lateral vehicle dynamic model is established. To judge the feasibility, under the condition of dynamic constraints, the reference trajectory is tracked with optimal control signal and judged by the tracking effect. In this way, the collision risk is eliminated, and the trajectory performance is improved. Simulation results show that the trajectory planning strategy is effective in different scenarios." @default.
- W4313125519 created "2023-01-06" @default.
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- W4313125519 date "2022-07-25" @default.
- W4313125519 modified "2023-10-01" @default.
- W4313125519 title "A Hybrid Trajectory Planning Strategy for Intelligent Vehicles with Collision Avoidance" @default.
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- W4313125519 doi "https://doi.org/10.23919/ccc55666.2022.9901901" @default.
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