Cooperative Trajectory Planning for Autonomous Driving Using Nonlinear Model Predictive Control

被引：18

作者：

Viana, Icaro Bezerra ^{[1
]}

Kanchwala, Hussain ^{[1
]}

Aouf, Nabil ^{[2
]}

机构：

[1] Cranfield Univ, Def Acad UK, Ctr Elect Warfare Informat & Cyber, Shrivenham SN6 8LA, England

[2] City Univ London, Dept Elect & Elect Engn, Northampton Sq, London EC1V 0HB, England

来源：

2019 8TH IEEE INTERNATIONAL CONFERENCE ON CONNECTED VEHICLES AND EXPO (IIEEE CCVE) | 2019年

基金：

“创新英国”项目;

关键词：

D O I：

10.1109/iccve45908.2019.8965227

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This work considers the problem of cooperative optimal trajectory generation for autonomous driving. A distributed nonlinear model predictive control (NMPC) for each vehicle was employed to solve the cooperative path-planning problem. Cooperative behavior is introduced by broadcasting the planned trajectories of all connected automated vehicles (CAVs). The proposed method is evaluated by co-simulation in CarSim which emulates a high fidelity multi-body dynamics model of the vehicle. The results show the effectiveness of our approach for a cooperative overtaking scenario comprising two vehicles in a three-lane, one way road with obstacles.

引用

页数：6

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