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Institutional Repository [SANDBOX]
Technical University of Crete
Technical University of Crete
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| URI: | http://purl.tuc.gr/dl/dias/9CCFDBFE-4FD6-4790-B26E-BCF868B7DF25 | ||
| Year | 2023 | ||
| Type of Item | Conference Full Paper | ||
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| Bibliographic Citation | N. Dabestani, P. Typaldos, V. K. Yanumula, I. Papamichail and M. Papageorgiou, "Joint trajectory optimization for multiple automated vehicles in lane-free traffic with vehicle nudging," in 26th IEEE International Conference on Intelligent Transportation Systems (ITSC 2023), Bilbao, Spain, September 24-28, 2023, doi: 10.1109/ITSC57777.2023.10422556. https://doi.org/10.1109/ITSC57777.2023.10422556 | ||
| Appears in Collections |
This paper presents a joint trajectory optimization algorithm for a number of connected and automated vehicles in a lane-free traffic environment with vehicle nudging. A double integrator model is assumed for the longitudinal and lateral movement of each one of the vehicles, considering constant and state-dependent bounds on control inputs, including road boundary constraints. A multi-objective function is designed for all vehicles and is minimized using an efficient feasible direction algorithm. This leads to minimization of fuel consumption, collision avoidance, achievement of desired speeds and prevention of infeasible maneuvers. Challenging scenarios are examined on a lane-free straight motorway stretch, producing promising results for further exploration in situations where simultaneous trajectory optimization for groups of vehicles (e.g., vehicle flocks or two-dimensional platoons) is considered.
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