Speed Planning Method for Autonomous Driving Considering Front / Rear Tire Force and Yaw Moment

Abstract

In turning at high speed, a vehicle tends to deviate from a target path because the moment to car rotating becomes large. Taking lateral acceleration and transient moment into calculation is valuable to plan vehicle running speed within longitudinal, lateral, and angular acceleration, which can be generated by front and rear tires. Through analysis and verification with the test vehicle, it's shown that the proposed speed planning method that reflects generating rotating moment improves traceability onto trajectory.