Abstract
Both path and speed planning play key roles in automated driving, specially when a certain comfort level is required. This paper proposes a human-like speed planning method for already defined paths while minimizing travel time. The proposed method is able to compute a time-optimal speed profile that meet the given constrains with regard to speed, acceleration and jerk. For this purpose, an initial acceleration-limited approach is introduced. This algorithm serves as a starting point for the subsequent jerk-limited speed planning. Moreover, fallback strategies are included to manage critical driving situations where initial or final conditions cannot be met. The proposed approach has been tested and validated in an experimental platform through extensive trials in real environments. Its performance has been evaluated both in terms of quality of the computed speed profiles and with respect the required computing time.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: IEEE Transactions on Intelligent Transportation Systems
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
