This paper considers the problem of cooperative trajectory planning for multiple, communicating, automated vehicles in general non-hazardous on-road scenarios. Cooperative behavior is introduced by optimizing a collective cost function for all automated vehicles. A novel approach based a Mixed-Integer Quadratic Programming is presented that guarantees to yield the globally optimal solution. Numerical experiments are provided to demonstrate the feasibility of our approach and the benefits compared to priority-based approaches and non-cooperative individual motion planning.


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    Titel :

    Cooperative Multiple Vehicle Trajectory Planning using MIQP


    Beteiligte:
    Burger, Christoph (Autor:in) / Lauer, Martin (Autor:in)


    Erscheinungsdatum :

    01.11.2018


    Format / Umfang :

    1022145 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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