Print Email Facebook Twitter 3DOP: Comfort-oriented Motion Planning for Automated Vehicles with Active Suspensions Title 3DOP: Comfort-oriented Motion Planning for Automated Vehicles with Active Suspensions Author Zheng, Y. (TU Delft Intelligent Vehicles) Shyrokau, B. (TU Delft Intelligent Vehicles) Keviczky, T. (TU Delft Team Tamas Keviczky) Date 2022 Abstract Motion comfort is the basis of many societal benefits promised by automated driving and motion planning is primarily responsible for this. By planning the spatial trajectory and the velocity profile, motion planners can significantly enhance motion comfort, ideally without sacrificing time efficiency. Active suspensions can push the boundary further by enabling additional degrees of freedom in the controllable vehicle motions. In this paper, we propose to integrate the planning of roll motion into an optimization-based motion planning algorithm called 3DOP(3 Degrees-of-Freedom Optimal Planning), where the conflicting objectives of comfort and time efficiency are optimized. The feasibility of the planned motion is verified in a realistic simulation environment, where feedforward-proportional control suffices to track the speed, path, and roll references. The proposed scheme achieves a significant reduction of motion discomfort, namely by up to 28.1% over the variant without controllable roll motion, or up to 34.2% over an acceleration-bounded driver model. The results suggest considerable potential for improving motion comfort by equipping automated vehicles with active suspensions. Subject Suspensions (mechanical systems)TrackingIntelligent vehiclesPlanningTrajectory To reference this document use: http://resolver.tudelft.nl/uuid:bb32c25c-107a-43bc-a9df-fc1a460f3463 DOI https://doi.org/10.1109/IV51971.2022.9827152 Publisher IEEE Embargo date 2023-01-19 ISBN 978-1-6654-8821-1 Source Proceedings of the 2022 IEEE Intelligent Vehicles Symposium (IV) Event 2022 IEEE Intelligent Vehicles Symposium (IV), 2022-06-05 → 2022-06-09, Aachen, Germany Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type conference paper Rights © 2022 Y. Zheng, B. Shyrokau, T. Keviczky Files PDF 3DOP_Comfort_oriented_Mot ... nsions.pdf 776.85 KB Close viewer /islandora/object/uuid:bb32c25c-107a-43bc-a9df-fc1a460f3463/datastream/OBJ/view