Title: Navigation-based constrained trajectory generation for advanced driver assistance systems

Authors: Jeremie Daniel, Abderazik Birouche, Jean-Philippe Lauffenburger, Michel Basset

Addresses: Universite de Haute Alsace (UHA) – MIPS Laboratory, 12 rue des Freres Lumiere 68093 Mulhouse Cedex, France. ' Universite de Haute Alsace (UHA) – MIPS Laboratory, 12 rue des Freres Lumiere 68093 Mulhouse Cedex, France. ' Universite de Haute Alsace (UHA) – MIPS Laboratory, 12 rue des Freres Lumiere 68093 Mulhouse Cedex, France. ' Universite de Haute Alsace (UHA) – MIPS Laboratory, 12 rue des Freres Lumiere 68093 Mulhouse Cedex, France

Abstract: This paper presents a new approach to constrained trajectory generation dedicated to Advanced Driver Assistance Systems (ADAS). Based on the information provided by the digital map database of a navigation system, the proposed solution is devoted to a control-oriented trajectory generation approach taking account of constraints which limit the behaviour of a common car, relative to the road to be followed and finally linked to the driver. Characteristically, these trajectories stay within the traffic lane borders; at the same time, they minimise the energy along the path, and finally, they are curvature continuous. The present trajectory generation has been tested on a specific test track and the results show the efficiency of the proposed solution.

Keywords: ADAS; advanced driver assistance systems; digital maps database; constrained trajectory generation; cubic splines; convex optimisation; vehicle navigation.

DOI: 10.1504/IJVAS.2011.041389

International Journal of Vehicle Autonomous Systems, 2011 Vol.9 No.3/4, pp.269 - 296

Received: 01 Mar 2010
Accepted: 24 Aug 2010
Published online: 10 Apr 2015 *

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