Trajectory planning for autonomous vehicles based on improved Hybrid A*
by Chao Wang; Nan Xu; Yanjun Huang; Konghui Guo; Yang Liu; Qin Li
International Journal of Vehicle Design (IJVD), Vol. 83, No. 2/3/4, 2020

Abstract: Trajectory planning plays an important role in autonomous driving technology. This paper presents an improved Hybrid A* algorithm by considering vehicle dynamics in planning. First, a vehicle dynamic model with three degrees of freedom and a nonlinear UniTire tyre model are developed to describe the vehicle dynamics. Then, in order to generate curvature-continuous trajectory, the method of expanding nodes based on the rotation speed of steering wheel is introduced. Then, heuristic functions are designed for trajectory searching. In addition, the feasibility of the planning result is verified in the driver-vehicle-road closed loop system. Simulation results show the proposed trajectory planning method performs well under a variety of working conditions and the planned trajectory is trackable even at extreme conditions, e.g., high speed and low-adhesion road surfaces. Specifically, on the icy road, the planned results are good and the maximum lateral tracking error of this trajectory is limited to 0.24 m.

Online publication date: Mon, 17-May-2021

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Vehicle Design (IJVD):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?


Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com