This paper develops a path planning algorithm for Connected and Automated Vehicles (CAVs) driving on a lane-free highway, according to a recently proposed novel paradigm for vehicular traffic in the era of CAVs. The approach considers a simple model of vehicle kinematics, along with appropriate constraints for control variables and road boundaries. Appropriate, partly competitive sub-objectives are designed to enable efficient vehicle advancement, while avoiding collisions with other vehicles and infeasible vehicle maneuvers. Based on these elements, a nonlinear Optimal Control Problem (OCP) is formulated for each ego vehicle, and a Feasible Direction Algorithm (FDA) is employed for its computationally efficient numerical solution. The OCP is solved repeatedly for short time horizons within a Model Predictive Control (MPC) framework, while the vehicle advances. It is demonstrated via traffic simulation, involving many such vehicles, on a lane-free ring-road that the proposed approach delivers promising results and can be considered as a candidate for use in further developments related to lane-free CAV traffic.


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    Titel :

    Optimal Path Planning for Connected and Automated Vehicles in Lane-free Traffic




    Erscheinungsdatum :

    2021-09-19


    Format / Umfang :

    762177 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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