TY - GEN
T1 - On XYZ-Motion Planning Using a Full Car Model
AU - Chakraborty, Sayan
AU - Jiang, Yu
AU - Jiang, Zhong Ping
N1 - Publisher Copyright:
© 2024 AACC.
PY - 2024
Y1 - 2024
N2 - This paper studies XYZ-motion planning using a full car model with active suspension components. The proposed approach involves harnessing perception data to create a two-tier representation of the road surface, consisting of the encoded road and the estimated road. The encoded road isolates specific road events, while the estimated road provides a holistic road profile. Leveraging on the information of the estimated road, a generic nonlinear optimization problem involving a full car model is formulated to craft an XYZ-motion plan. To ensure practical in-vehicle implementation, the optimization problem is decomposed into to two distinct phases. First, an XY-path is optimized by leveraging information from the isolated road events. Second, the generated XY-path is used to devise an XYZ-trajectory, including a vertical motion plan and an optimal speed profile. Finally, numerical results obtained by using both synthetic and real-world road surface data are provided to illustrate the effectiveness of the proposed methodology.
AB - This paper studies XYZ-motion planning using a full car model with active suspension components. The proposed approach involves harnessing perception data to create a two-tier representation of the road surface, consisting of the encoded road and the estimated road. The encoded road isolates specific road events, while the estimated road provides a holistic road profile. Leveraging on the information of the estimated road, a generic nonlinear optimization problem involving a full car model is formulated to craft an XYZ-motion plan. To ensure practical in-vehicle implementation, the optimization problem is decomposed into to two distinct phases. First, an XY-path is optimized by leveraging information from the isolated road events. Second, the generated XY-path is used to devise an XYZ-trajectory, including a vertical motion plan and an optimal speed profile. Finally, numerical results obtained by using both synthetic and real-world road surface data are provided to illustrate the effectiveness of the proposed methodology.
UR - http://www.scopus.com/inward/record.url?scp=85204467266&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85204467266&partnerID=8YFLogxK
U2 - 10.23919/ACC60939.2024.10644217
DO - 10.23919/ACC60939.2024.10644217
M3 - Conference contribution
AN - SCOPUS:85204467266
T3 - Proceedings of the American Control Conference
SP - 245
EP - 250
BT - 2024 American Control Conference, ACC 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2024 American Control Conference, ACC 2024
Y2 - 10 July 2024 through 12 July 2024
ER -