TY - GEN
T1 - Optimal Trajectory Planning Generation for Autonomous Vehicle Using Frenet Reference Path
AU - Kusuma, Zulfirahma Dyah Septi
AU - Indriawati, Katherin
AU - Widjiantoro, Bambang Lelono
AU - Hija, Akhmad Ibnu
AU - Nurhadi, Hendro
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Intelligent vehicle technology has developed rapidly by automotive companies around the world. The main objective of smart vehicle technology is the realization of an autonomous vehicles system. In this research, a trajectory planning system is designed using the frenet reference path and optimization for autonomous vehicles. The resulting vehicle trajectory is the optimal path from several candidate paths after the optimization process. The used cost function considers dynamic safety and comfort cost, also allowing the vehicle to avoid moving obstacles. There are two results from the path planning system, namely the position value of cartesian coordinates (x,y) and vehicle orientation (θ). From the results of the optimal trajectory, it can be determined the value of curvature and lateral offset concerning time. The largest curvature values are 0.005 m and - 0.0053 m.
AB - Intelligent vehicle technology has developed rapidly by automotive companies around the world. The main objective of smart vehicle technology is the realization of an autonomous vehicles system. In this research, a trajectory planning system is designed using the frenet reference path and optimization for autonomous vehicles. The resulting vehicle trajectory is the optimal path from several candidate paths after the optimization process. The used cost function considers dynamic safety and comfort cost, also allowing the vehicle to avoid moving obstacles. There are two results from the path planning system, namely the position value of cartesian coordinates (x,y) and vehicle orientation (θ). From the results of the optimal trajectory, it can be determined the value of curvature and lateral offset concerning time. The largest curvature values are 0.005 m and - 0.0053 m.
KW - Autonomous Vehicle
KW - Avoiding Obstacles
KW - Frenet Reference Path
KW - Optimum Path
KW - Trajectory Generation
UR - http://www.scopus.com/inward/record.url?scp=85150188902&partnerID=8YFLogxK
U2 - 10.1109/ISRITI56927.2022.10052833
DO - 10.1109/ISRITI56927.2022.10052833
M3 - Conference contribution
AN - SCOPUS:85150188902
T3 - 2022 5th International Seminar on Research of Information Technology and Intelligent Systems, ISRITI 2022
SP - 480
EP - 484
BT - 2022 5th International Seminar on Research of Information Technology and Intelligent Systems, ISRITI 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th International Seminar on Research of Information Technology and Intelligent Systems, ISRITI 2022
Y2 - 8 December 2022 through 9 December 2022
ER -