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
2019-11-01
1251690 byte
Conference paper
Electronic Resource
English
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