Manoeuvre generation and control for automated highway driving
Paper in proceedings, 2014
A hierarchical, two-level architecture for manoeuvre generation and vehicle control for automated highway driving is presented. The high-level planner computes a manoeuvre in terms of a (X, Y)-trajectory as well as a longitudinal velocity profile, utilizing a simplified point-mass model and linear collision avoidance constraints. The low-level controller utilizes a non-linear vehicle model in order to compute the vehicle control inputs required to execute the planned manoeuvre. Both the high-level planner and low-level controller are formulated based on the model predictive control methodology. Simulation results demonstrates the ability of the high-level planner to compute appropriate, traffic-dependent manoeuvres, that can be tracked by the low-level controller in real-time.