Fast Motion Model of Road Vehicles with Artificial Neural Networks

Hegedüs, Ferenc and Gáspár, Péter and Bécsi, Tamás (2021) Fast Motion Model of Road Vehicles with Artificial Neural Networks. ELECTRONICS, 10 (8). ISSN 2079-9292 10.3390/electronics10080928


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Nonlinear optimization-based motion planning algorithms have been successfully used for dynamically feasible trajectory planning of road vehicles. However, the main drawback of these methods is their significant computational effort and thus high runtime, which makes real-time application a complex problem. Addressing this field, this paper proposes an algorithm for fast simulation of road vehicle motion based on artificial neural networks that can be used in optimization-based trajectory planners. The neural networks are trained with supervised learning techniques to predict the future state of the vehicle based on its current state and driving inputs. Learning data is provided for a wide variety of randomly generated driving scenarios by simulation of a dynamic vehicle model. The realistic random driving maneuvers are created on the basis of piecewise linear travel velocity and road curvature profiles that are used for the planning of public roads. The trained neural networks are then used in a feedback loop with several variables being calculated by additional numerical integration to provide all the outputs of the original dynamic model. The presented model can be capable of short-term vehicle motion simulation with sufficient precision while having a considerably faster runtime than the original dynamic model.

Item Type: Article
Subjects: Q Science > QA Mathematics and Computer Science > QA75 Electronic computers. Computer science / számítástechnika, számítógéptudomány
Divisions: Systems and Control Lab
SWORD Depositor: MTMT Injector
Depositing User: MTMT Injector
Date Deposited: 21 Apr 2021 06:18
Last Modified: 17 Nov 2021 13:46

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