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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    Title :

    Cooperative Multiple Vehicle Trajectory Planning using MIQP


    Contributors:


    Publication date :

    2018-11-01


    Size :

    1022145 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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