Time-Optimal Trajectory Planning in Highway Scenarios using Basis-Spline Parameterization

作     者：Dorpmüller, Philip Schmitz, Thomas Bejagam, Naveen Bertram, Torsten 

作者机构：TU Dortmund University Institute of Control Theory and Systems Engineering Dortmund44227 Germany ZF Group Automated Driving and Integral Cognitive Safety Düsseldorf40547 Germany 

出 版 物：《arXiv》 (arXiv)

年 卷 期：2023年

核心收录：

主　　题：Trajectories 

摘      要：Basis splines enable a time-continuous feasibility check with a finite number of constraints. Constraints apply to the whole trajectory for motion planning applications that require a collision-free and dynamically feasible trajectory. Existing motion planners that rely on gradient-based optimization apply time scaling to implement a shrinking planning horizon. They neither guarantee a recursively feasible trajectory nor enable reaching two terminal manifold parts at different time scales. This paper proposes a nonlinear optimization problem that addresses the drawbacks of existing approaches. Therefore, the spline breakpoints are included in the optimization variables. Transformations between spline bases are implemented so a sparse problem formulation is achieved. A strategy for breakpoint removal enables the convergence into a terminal manifold. The evaluation in an overtaking scenario shows the influence of the breakpoint number on the solution quality and the time required for optimization. Copyright © 2023, The Authors. All rights reserved.