At intersections and in merging traffic, intelligent road vehicles must solve challenging optimal control problems in real-time to navigate reliably around moving obstacles. We present a complete planner that computes collision-free, optimal longitudinal control sequences (acceleration and braking) using a novel visibility graph approach that analytically computes the reachable subset of path-velocity-time space. We demonstrate that our method plans over an order of magnitude faster than previous approaches, making it scalable and fast enough (tenths of a second on a PC) to be called repeatedly on-line. We demonstrate applications to autonomous driving and vehicle collision warning systems with many moving obstacles.


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    Title :

    Optimal longitudinal control planning with moving obstacles


    Contributors:


    Publication date :

    2013-06-01


    Size :

    2086809 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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