Institutional Repository [SANDBOX]
Technical University of Crete
EN  |  EL

Search

Browse

My Space

Motorway path planning for automated road vehicles based on optimal control methods

Makantasis Konstantinos, Papageorgiou Markos

Full record


URI: http://purl.tuc.gr/dl/dias/CDD5A9CB-6AB2-435E-B829-CC9A58800DE9
Year 2018
Type of Item Peer-Reviewed Journal Publication
License
Details
Bibliographic Citation K. Makantasis and M. Papageorgiou, "Motorway path planning for automated road vehicles based on optimal control methods," Transportation Res. Rec., vol. 2672, no. 19, pp. 112-123, July 2018. doi: 10.1177/0361198118780710 https://doi.org/10.1177/0361198118780710
Appears in Collections

Summary

A path-planning algorithm for automated road vehicles on multi-lane motorways is derived from the opportune formulation of an optimal control problem. In this framework, the objective function to be minimized contains appropriate respective terms to reflect: the goals of the vehicle advancement; passenger comfort; prevailing traffic rules (e.g., overtaking only from left); and the avoidance of obstacles (other moving vehicles) and of the vehicle departing from the road. Each term is coupled with a weighting factor that reflects its comparative importance. For the numerical solution of the optimal control problem, a very efficient feasible direction algorithm is used. To avoid local minima, a simplified dynamic programming algorithm is also conceived to deliver the initial guess trajectory for the optimal control algorithm. With low computation times, the approach is readily executable within a model-predictive control frame. The performance of the proposed algorithm is illustrated using two typical driving scenarios.

Services

Statistics