基于时变安全约束的高速公路自动驾驶预测路径规划模型

Mehdi Jalalmaab, B. Fidan, Soo Jeon, P. Falcone
{"title":"基于时变安全约束的高速公路自动驾驶预测路径规划模型","authors":"Mehdi Jalalmaab, B. Fidan, Soo Jeon, P. Falcone","doi":"10.1109/ICAR.2015.7251458","DOIUrl":null,"url":null,"abstract":"A model predictive controller (MPC) with time-varying safety constraints for highway path planning with collision avoidance is developed in this paper. The collision avoidance constraints with the surrounding vehicles are integrated with the road geometry constraints, leading to a set of convex time-varying safety constraints. The surrounding vehicles' dynamics and decisions are also incorporated in the prediction model to predict the trajectories. The proposed controller finds the best combination of longitudinal and lateral acceleration commands to guide the vehicle while avoiding collision with surrounding vehicles by possibly overtaking. Simulation results verify successful performance of this predictive control strategy for different scenarios.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"30","resultStr":"{\"title\":\"Model predictive path planning with time-varying safety constraints for highway autonomous driving\",\"authors\":\"Mehdi Jalalmaab, B. Fidan, Soo Jeon, P. Falcone\",\"doi\":\"10.1109/ICAR.2015.7251458\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A model predictive controller (MPC) with time-varying safety constraints for highway path planning with collision avoidance is developed in this paper. The collision avoidance constraints with the surrounding vehicles are integrated with the road geometry constraints, leading to a set of convex time-varying safety constraints. The surrounding vehicles' dynamics and decisions are also incorporated in the prediction model to predict the trajectories. The proposed controller finds the best combination of longitudinal and lateral acceleration commands to guide the vehicle while avoiding collision with surrounding vehicles by possibly overtaking. Simulation results verify successful performance of this predictive control strategy for different scenarios.\",\"PeriodicalId\":432004,\"journal\":{\"name\":\"2015 International Conference on Advanced Robotics (ICAR)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2015-07-27\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"30\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2015 International Conference on Advanced Robotics (ICAR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICAR.2015.7251458\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 International Conference on Advanced Robotics (ICAR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR.2015.7251458","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 30

摘要

提出了一种具有时变安全约束的公路路径规划模型预测控制器(MPC)。将与周围车辆的避碰约束与道路几何约束相结合,得到一组凸时变安全约束。在预测模型中还考虑了周围车辆的动力学和决策,以预测轨迹。所提出的控制器找到纵向和横向加速度指令的最佳组合,以引导车辆,同时避免与周围车辆发生碰撞,避免超车。仿真结果验证了该预测控制策略在不同场景下的成功性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Model predictive path planning with time-varying safety constraints for highway autonomous driving
A model predictive controller (MPC) with time-varying safety constraints for highway path planning with collision avoidance is developed in this paper. The collision avoidance constraints with the surrounding vehicles are integrated with the road geometry constraints, leading to a set of convex time-varying safety constraints. The surrounding vehicles' dynamics and decisions are also incorporated in the prediction model to predict the trajectories. The proposed controller finds the best combination of longitudinal and lateral acceleration commands to guide the vehicle while avoiding collision with surrounding vehicles by possibly overtaking. Simulation results verify successful performance of this predictive control strategy for different scenarios.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信