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Joint trajectory optimization for multiple automated vehicles in lane-free traffic with vehicle nudging

Dabestani Niloufar, Typaldos Panagiotis, Yanumula Venkata-Karteek, Papamichail Ioannis, Papageorgiou Markos

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URIhttp://purl.tuc.gr/dl/dias/9CCFDBFE-4FD6-4790-B26E-BCF868B7DF25-
Identifierhttps://doi.org/10.1109/ITSC57777.2023.10422556-
Identifierhttps://ieeexplore.ieee.org/document/10422556-
Languageen-
Extent8 pagesen
TitleJoint trajectory optimization for multiple automated vehicles in lane-free traffic with vehicle nudgingen
CreatorDabestani Niloufaren
CreatorDabestani Niloufarel
CreatorTypaldos Panagiotisen
CreatorΤυπαλδος Παναγιωτηςel
CreatorYanumula Venkata-Karteeken
CreatorYanumula Karteekel
CreatorPapamichail Ioannisen
CreatorΠαπαμιχαηλ Ιωαννηςel
CreatorPapageorgiou Markosen
CreatorΠαπαγεωργιου Μαρκοςel
PublisherInstitute of Electrical and Electronics Engineersen
DescriptionThe research leading to these results has received funding from the European Research Council under the European Union’s Horizon 2020 Research and Innovation programme/ ERC Grant Agreement n. [833915], project TrafficFluid.en
Content SummaryThis 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.en
Type of ItemΠλήρης Δημοσίευση σε Συνέδριοel
Type of ItemConference Full Paperen
Licensehttp://creativecommons.org/licenses/by-nc-nd/4.0/en
Date of Item2024-06-26-
Date of Publication2023-
SubjectLane-free trafficen
SubjectAutomated vehiclesen
SubjectJoint path planningen
SubjectOptimal coordinationen
SubjectTrajectory planningen
Bibliographic CitationN. 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.en

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