Formulation of Trajectory of Vehicle that Accelerates and Decelerates in Coordination with Lateral Motion

Abstract

In order to realize automatic drive equivalent to an expert driver, it is necessary to design a target route on the premise of acceleration / deceleration coordinated to lateral motion. Generally, clothoids and sinusoidal half-wavelength gradual relaxation curves designed on the assumption that the traveling speed is constant, however we adopted relaxation curves considering the decrease in speed by G-Vectoring control. The result of comparing this relaxation curve with the vehicle locus of the expert driver will be reported.