Spatio‐temporal Keyframe Control of Traffic Simulation using Coarse‐to‐Fine Optimization
We present a novel traffic trajectory editing method which uses spatio‐temporal keyframes to control vehicles during the simulation to generate desired traffic trajectories. By taking self‐motivation, path following and collision avoidance into account, the proposed force‐based traffic simulation fr...
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| Veröffentlicht in: | Computer graphics forum Jg. 41; H. 7; S. 541 - 552 |
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| Format: | Journal Article |
| Sprache: | Englisch |
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Oxford
Blackwell Publishing Ltd
01.10.2022
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| ISSN: | 0167-7055, 1467-8659 |
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| Abstract | We present a novel traffic trajectory editing method which uses spatio‐temporal keyframes to control vehicles during the simulation to generate desired traffic trajectories. By taking self‐motivation, path following and collision avoidance into account, the proposed force‐based traffic simulation framework updates vehicle's motions in both the Frenet coordinates and the Cartesian coordinates. With the way‐points from users, lane‐level navigation can be generated by reference path planning. With a given keyframe, the coarse‐to‐fine optimization is proposed to efficiently generate the plausible trajectory which can satisfy the spatio‐temporal constraints. At first, a directed state‐time graph constructed along the reference path is used to search for a coarse‐grained trajectory by mapping the keyframe as the goal. Then, using the information extracted from the coarse trajectory as initialization, adjoint‐based optimization is applied to generate a finer trajectory with smooth motions based on our force‐based simulation. We validate our method with extensive experiments. |
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| AbstractList | We present a novel traffic trajectory editing method which uses spatio‐temporal keyframes to control vehicles during the simulation to generate desired traffic trajectories. By taking self‐motivation, path following and collision avoidance into account, the proposed force‐based traffic simulation framework updates vehicle's motions in both the Frenet coordinates and the Cartesian coordinates. With the way‐points from users, lane‐level navigation can be generated by reference path planning. With a given keyframe, the coarse‐to‐fine optimization is proposed to efficiently generate the plausible trajectory which can satisfy the spatio‐temporal constraints. At first, a directed state‐time graph constructed along the reference path is used to search for a coarse‐grained trajectory by mapping the keyframe as the goal. Then, using the information extracted from the coarse trajectory as initialization, adjoint‐based optimization is applied to generate a finer trajectory with smooth motions based on our force‐based simulation. We validate our method with extensive experiments. |
| Author | Han, Yi Jin, Xiaogang Wang, He |
| Author_xml | – sequence: 1 givenname: Yi orcidid: 0000-0002-9548-7979 surname: Han fullname: Han, Yi organization: Zhejiang University – sequence: 2 givenname: He orcidid: 0000-0002-2281-5679 surname: Wang fullname: Wang, He organization: University of Leeds – sequence: 3 givenname: Xiaogang orcidid: 0000-0001-7339-2920 surname: Jin fullname: Jin, Xiaogang email: jin@cad.zju.edu.cn organization: Zhejiang University |
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| Cites_doi | 10.1109/LRA.2022.3145510 10.1103/PhysRevE.62.1805 10.1109/CVPR.2016.110 10.1155/2020/3634054 10.1109/ROMAN.2016.7745174 10.1103/PhysRevE.51.4282 10.1038/35035023 10.1111/cgf.13803 10.1002/cav.1521 10.1109/TVCG.2017.2648790 10.1145/2601097.2601170 10.1109/TVCG.2019.2946769 10.1109/TVCG.2010.27 10.1109/IROS.2007.4398968 10.1109/ICRA.2019.8794430 10.1145/3130800.3130847 10.1145/2461912.2462021 10.1002/cav.1974 10.1145/1015706.1015744 10.1126/scirobotics.aaw0863 |
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| Copyright | 2022 The Author(s) Computer Graphics Forum © 2022 The Eurographics Association and John Wiley & Sons Ltd. Published by John Wiley & Sons Ltd. 2022 The Eurographics Association and John Wiley & Sons Ltd. |
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| SubjectTerms | Cartesian coordinates CCS Concepts Collision avoidance Computing methodologies → Procedural animation Interactive simulation Optimization Path planning Simulation Traffic control Trajectory planning |
| Title | Spatio‐temporal Keyframe Control of Traffic Simulation using Coarse‐to‐Fine Optimization |
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