NDLI: Bézier curve-based trajectory planning for autonomous vehicles with collision avoidance

Content Provider	IET Digital Library
Author	Zheng, Ling Zeng, Pengyun Yang, Wei Li, Yinong Zhan, Zhenfei
Abstract	This study proposes an effective trajectory planning algorithm based on the quartic Bézier curve and dangerous potential field for automatic vehicles. To generate collision-free trajectories, potential field functions are introduced to evaluate the collision risk of path candidates. However, many studies on artificial potential field approaches primarily focus on static and straight roads, and attach less importance to more complex driving scenarios, such as curving roads. In this study, a novel method based on the Frenet coordinate system is proposed to address such limitations. Moreover, to balance the driving comfortability and the driving safety of the path candidate, the path-planning problem is converted to an optimisation problem, and sequential quadratic programming algorithm is employed to tackle this task. Another merit of this algorithm is the curvature of the generated path is continuous even at the joints of adjacent sub-trajectories by utilising several specific properties of the Bézier curve. Furthermore, to execute the generated trajectory, a framework of velocity generation is proposed while vehicle dynamic constraints are considered. Some typical traffic scenarios, including lane-changing, lane-keeping, and collision avoidance have been designed to verify the performance of the proposed algorithm, and simulations demonstrate the validity of this method.
Starting Page	1882
Ending Page	1891
Page Count	10
ISSN	1751956X
Volume Number	14
e-ISSN	17519578
Issue Number	Issue 13, Dec (2020)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-its/14/13
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-its.2020.0355
Journal	IET Intelligent Transport Systems
Publisher Date	2020-12-14
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Adjacent Sub-trajectories Artificial Potential Field Automatic Vehicle Autonomous Vehicle Bézier Curve-based Trajectory Collision Avoidance Collision Risk Collision-free Trajectories Complex Driving Scenarios Curving Roads Dangerous Potential Field Driving Comfortability Driving Safety Effective Trajectory Frenet Coordinate System Generated Path Generated Trajectory Mobile Robots Optimisation Problem Optimisation Technique Path Candidate Path Planning Path-planning Problem Potential Field Function Quadratic Programming Quartic Bézier Curve Road Safety Road Traffic Road Vehicle Sequential Quadratic Programming Algorithm Spatial Variables Control Static Roads Straight Roads Trajectory Control Typical Traffic Scenario Vehicle Dynamic Constraint Vehicle Dynamics Vehicle Mechanics Velocity Generation
Content Type	Text
Resource Type	Article
Subject	Law Transportation Environmental Science Mechanical Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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