Receding horizon maneuver generation for automated highway driving
Artikel i vetenskaplig tidskrift, 2015

This paper focuses on the problem of decision-making and control in an autonomous driving application for highways. By considering the decision-making and control problem as an obstacle avoidance path planning problem, the paper proposes a novel approach to path planning, which exploits the structured environment of one-way roads. As such, the obstacle avoidance path planning problem is formulated as a convex optimization problem within a receding horizon control framework, as the minimization of the deviation from a desired velocity and lane, subject to a set of constraints introduced to avoid collision with surrounding vehicles, stay within the road boundaries, and abide the physical limitations of the vehicle dynamics. The ability of the proposed approach to generate appropriate traffic dependent maneuvers is demonstrated in simulations concerning traffic scenarios on a two-lane, one-way road with one and two surrounding vehicles.

Automated vehicles

Obstacle avoidance path planning

Decision-making and control

Model predictive control

Advanced driver assistance systems

Författare

Julia Nilsson

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

Paolo Falcone

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

Mohammad Ali

Volvo Cars

Jonas Sjöberg

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

Control Engineering Practice

0967-0661 (ISSN)

Vol. 41 124-133

Ämneskategorier

Farkostteknik

Robotteknik och automation

DOI

10.1016/j.conengprac.2015.04.006

Mer information

Senast uppdaterat

2018-11-19