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

Makantasis Konstantinos, Papageorgiou Markos

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URIhttp://purl.tuc.gr/dl/dias/CDD5A9CB-6AB2-435E-B829-CC9A58800DE9-
Identifierhttps://doi.org/10.1177/0361198118780710-
Identifierhttps://journals.sagepub.com/doi/abs/10.1177/0361198118780710-
Languageen-
Extent12 pagesen
TitleMotorway path planning for automated road vehicles based on optimal control methodsen
CreatorMakantasis Konstantinosen
CreatorΜακαντασης Κωνσταντινοςel
CreatorPapageorgiou Markosen
CreatorΠαπαγεωργιου Μαρκοςel
PublisherSAGE Publicationsen
Content SummaryA 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.en
Type of ItemPeer-Reviewed Journal Publicationen
Type of ItemΔημοσίευση σε Περιοδικό με Κριτέςel
Licensehttp://creativecommons.org/licenses/by/4.0/en
Date of Item2019-09-02-
Date of Publication2018-
SubjectDynamic programmingen
SubjectHighway planningen
SubjectModel predictive controlen
SubjectMotion planningen
SubjectOptimal control systemsen
SubjectRoads and streetsen
SubjectVehiclesen
Bibliographic CitationK. 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: 10.1177/0361198118780710en

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