Real-Time Motion Planning and Control for a Formula Student Driverless Car

Tairan Chen; Xinyu Gao; Chenrui Huang; Xiang Li; Shaokun Yang; Hailong Gong; Yunji Feng

doi:10.1007/978-981-16-2090-4_12

Real-Time Motion Planning and Control for a Formula Student Driverless Car

Tairan Chen^*, Xinyu Gao, Chenrui Huang, Xiang Li, Shaokun Yang, Hailong Gong, Yunji Feng

^*此作品的通讯作者

机械与车辆学院

Beijing Institute of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

This paper presents a planning and control pipeline for an autonomous race car to drive around a track that may not be previously known for three laps. In the case of a limited perception range in the first lap, boundary detection and motion planning separately extract and optimize the trajectory to minimize the trajectory curvature. After finishing the mapping, multi-strategy NMPC is used to optimize or track the trajectory. We use the real-world map data from Formula Student Autonomous China 2019 for experiments. The experiment shows that under the same vehicle model, the system can significantly improve the performance of the race car.

源语言	英语
主期刊名	Proceedings of China SAE Congress 2020
主期刊副标题	Selected Papers
出版商	Springer Science and Business Media Deutschland GmbH
页	203-219
页数	17
ISBN（印刷版）	9789811620898
DOI	https://doi.org/10.1007/978-981-16-2090-4_12
出版状态	已出版 - 2022
活动	China SAE Congress, 2020 - Shanghai, 中国期限: 27 10月 2020 → 29 10月 2020

出版系列

姓名	Lecture Notes in Electrical Engineering
卷	769
ISSN（印刷版）	1876-1100
ISSN（电子版）	1876-1119

会议

会议	China SAE Congress, 2020
国家/地区	中国
市	Shanghai
时期	27/10/20 → 29/10/20

访问文件

10.1007/978-981-16-2090-4_12

其它文件与链接

链接到 Scopus 的出版物

引用此

Chen, T., Gao, X., Huang, C., Li, X., Yang, S., Gong, H., & Feng, Y. (2022). Real-Time Motion Planning and Control for a Formula Student Driverless Car. 在 Proceedings of China SAE Congress 2020: Selected Papers (页码 203-219). (Lecture Notes in Electrical Engineering; 卷 769). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-16-2090-4_12

@inproceedings{041bfe209d45492bb77fcc2c8c219b61,

title = "Real-Time Motion Planning and Control for a Formula Student Driverless Car",

abstract = "This paper presents a planning and control pipeline for an autonomous race car to drive around a track that may not be previously known for three laps. In the case of a limited perception range in the first lap, boundary detection and motion planning separately extract and optimize the trajectory to minimize the trajectory curvature. After finishing the mapping, multi-strategy NMPC is used to optimize or track the trajectory. We use the real-world map data from Formula Student Autonomous China 2019 for experiments. The experiment shows that under the same vehicle model, the system can significantly improve the performance of the race car.",

keywords = "Boundary detection, Formula student autonomous China, Model predictive control, Motion planning",

author = "Tairan Chen and Xinyu Gao and Chenrui Huang and Xiang Li and Shaokun Yang and Hailong Gong and Yunji Feng",

note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; China SAE Congress, 2020 ; Conference date: 27-10-2020 Through 29-10-2020",

year = "2022",

doi = "10.1007/978-981-16-2090-4_12",

language = "English",

isbn = "9789811620898",

series = "Lecture Notes in Electrical Engineering",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "203--219",

booktitle = "Proceedings of China SAE Congress 2020",

address = "Germany",

}

Chen, T, Gao, X, Huang, C, Li, X, Yang, S, Gong, H & Feng, Y 2022, Real-Time Motion Planning and Control for a Formula Student Driverless Car. 在 Proceedings of China SAE Congress 2020: Selected Papers. Lecture Notes in Electrical Engineering, 卷 769, Springer Science and Business Media Deutschland GmbH, 页码 203-219, China SAE Congress, 2020, Shanghai, 中国, 27/10/20. https://doi.org/10.1007/978-981-16-2090-4_12

Real-Time Motion Planning and Control for a Formula Student Driverless Car. / Chen, Tairan; Gao, Xinyu; Huang, Chenrui 等.
Proceedings of China SAE Congress 2020: Selected Papers. Springer Science and Business Media Deutschland GmbH, 2022. 页码 203-219 (Lecture Notes in Electrical Engineering; 卷 769).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Real-Time Motion Planning and Control for a Formula Student Driverless Car

AU - Chen, Tairan

AU - Gao, Xinyu

AU - Huang, Chenrui

AU - Li, Xiang

AU - Yang, Shaokun

AU - Gong, Hailong

AU - Feng, Yunji

PY - 2022

Y1 - 2022

N2 - This paper presents a planning and control pipeline for an autonomous race car to drive around a track that may not be previously known for three laps. In the case of a limited perception range in the first lap, boundary detection and motion planning separately extract and optimize the trajectory to minimize the trajectory curvature. After finishing the mapping, multi-strategy NMPC is used to optimize or track the trajectory. We use the real-world map data from Formula Student Autonomous China 2019 for experiments. The experiment shows that under the same vehicle model, the system can significantly improve the performance of the race car.

AB - This paper presents a planning and control pipeline for an autonomous race car to drive around a track that may not be previously known for three laps. In the case of a limited perception range in the first lap, boundary detection and motion planning separately extract and optimize the trajectory to minimize the trajectory curvature. After finishing the mapping, multi-strategy NMPC is used to optimize or track the trajectory. We use the real-world map data from Formula Student Autonomous China 2019 for experiments. The experiment shows that under the same vehicle model, the system can significantly improve the performance of the race car.

KW - Boundary detection

KW - Formula student autonomous China

KW - Model predictive control

KW - Motion planning

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U2 - 10.1007/978-981-16-2090-4_12

DO - 10.1007/978-981-16-2090-4_12

M3 - Conference contribution

AN - SCOPUS:85124037834

SN - 9789811620898

T3 - Lecture Notes in Electrical Engineering

SP - 203

EP - 219

BT - Proceedings of China SAE Congress 2020

PB - Springer Science and Business Media Deutschland GmbH

T2 - China SAE Congress, 2020

Y2 - 27 October 2020 through 29 October 2020

ER -

Real-Time Motion Planning and Control for a Formula Student Driverless Car

摘要

出版系列

会议

访问文件

其它文件与链接

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