Technical Paper
Maximum curve-passing speed correction for online trajectory optimization of autonomous vehicles
2024-04-09
2024-01-2330
In emergency circumstances, it is essential for autonomous vehicles to balance stability and dynamic performance to attain a faster travel speed while preserving stability. For trajectory planning, neither over-conservative nor unachievable trajectory and speed profiles are eligible in these cases. However, the difficulty lies in the accurate maximum cornering speed estimation due to the impact of nonlinear tire force responses in these scenarios with large steering angles and high cornering speed requirements. While this difficulty can be addressed by introducing extra variables in the formulation of this problem to take nonlinearity into consideration, it ends up exacerbating its complexity. In this paper, a novel maximum curve-passing speed correction (MCSC) method for online trajectory optimization is proposed by leveraging predefined nonlinear correction terms, which is applicable without introducing any extra variables to the optimization.