Efficient mixed integer programming for autonomous overtaking

被引：0
|
作者：
Molinari, Fabio [1 ]
Nguyen Ngoc Anh [1 ]
Del Re, Luigi [1 ]
机构：
[1] Johannes Kepler Univ Linz, Inst Design & Control Mechatron Syst, Linz, Austria
来源：
2017 AMERICAN CONTROL CONFERENCE (ACC) | 2017年
关键词：
SYSTEM;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper addresses the autonomous overtaking problem using model predictive control. Accordingly, a mixed integer programming approach is put forward in which the surrounding vehicles are considered as moving obstacles. Unlike existing solutions using mixed integer programming, this paper presents more efficient formulations by reducing the number of binary variables, possibly enabling to accelerate the online computation. These algorithms are illustrated via a numerical example in the accurate vehicle simulator IPG CarMaker.
引用
收藏
页码：2303 / 2308
页数：6
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