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.


Julia Nilsson

Chalmers, Signals and Systems, Systems and control, Mechatronics

Y. Gao

A. Carvalho

F. Borrelli

19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014, Cape Town, South Africa, 24-29 August 2014

1474-6670 (ISSN)

Vol. 19 6301-6306

Subject Categories

Vehicle Engineering

Control Engineering



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