Cooperative Trajectory Planning for Autonomous Driving Using Nonlinear Model Predictive Control

被引：15
|
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
收藏
页数：6
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