Alirezaei M

Anderson SJ

Andreas Kanarachos

Berntorp K

Chakraborty I

Dai P

Frasch JV

Funke J

Gray A

Hattori Y

Jeon JH

Keviczky T

Lima P

Liu J

Madas D

Mike Blundell

Pacejka B

Shah J

Stratis Kanarachos

 In the UK, the number of fatal accidents on rural roads is approximately double that on urban roads. Statistics have also shown that accidents on rural roads decreased less than on other road types. The narrow width and complex geometry are less forgiving to drivers’ mistakes. A potential remedy for this problem is automated driving in which the ability to plan -in real time- safe and feasible paths is essential. The literature review of recently proposed path planning methods has revealed that most of them utilise either forward simulations of a vehicle dynamics model or describe a priori mathematically a reference path. In this paper, the weaknesses of the reviewed methods are discussed and a new path planning method that belongs to the latter category is presented. The method is based on a direct element concept and as shown and discussed is extremely versatile. It is unique in the sense that for the first time it facilitates the prediction of the maximum vehicle slip angle and the definition of a reference path that minimises it. Contrary to other methods it is very flexible in defining arbitrary boundary and intermediate conditions. The overall computational cost as analysed is very small. Simulations illustrate its performance and comparisons with other methods highlight its strengths. </jats:p

Crossref

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering

Minimum vehicle slip path planning for automated driving using a direct element method

In the UK the number of fatal accidents on rural roads is approximately double the one on urban. Statistics also showed that rural accidents decreased less than on other road types. The narrow width and complex geometry are less forgiving to drivers’ mistakes. A potential remedy for this problem is automated driving (AD). Decisive in AD is the ability to plan safe and feasible paths that can match any road geometry. Different methods have been proposed for this purpose. Most of them either utilise forward simulation of a vehicle dynamics model or describe mathematically a reference path and then track it. In this paper, a new method belonging to the latter category is presented. The method is based on a direct element approach and, as will be shown and discussed, is unique because it’s the first one that includes a prediction of the vehicle slip angle and designs paths minimising their maximum value. Furthermore, it is very flexible because it can plan paths under arbitrary boundary and intermediate conditions and has a low computational burden. Simulations illustrate its performance and comparisons to other known methods highlight its strengths

Kanarachos, Stratis

Blundell, Mike V.

Kanarachos, A.

Coventry University Pure Portal

https://pure.coventry.ac.uk/ws/files/3928587/Journal%20of%20automotive%20engineering%20paper.pdf

Minimum vehicle slip path planning for automated driving using a direct element method

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Coventry University Pure Portal