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.
Cooperative Trajectory Planning for Autonomous Driving Using Nonlinear Model Predictive Control
01.11.2019
1251690 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Trajectory generation for autonomous highway driving using model predictive control
BASE | 2017
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