Distributed Cooperative Path-Planning for Autonomous Vehicles Integrating Human Driver Trajectories
| Autor: | Icaro Bezerra Viana, Nabil Aouf |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Mathematical optimization Computer science Novelty 02 engineering and technology Model predictive control 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering Overtaking Trajectory Quadratic programming Motion planning Cooperative planning Collision avoidance |
| Zdroj: | IEEE Conf. on Intelligent Systems |
| Popis: | This paper considers the problem of cooperative optimal trajectory generation for autonomous driving involving a human driver vehicle (HDV) into the traffic scenario. A distributed model predictive control (MPC) approach to solve the cooperative path-planning problem is proposed. The novelty of this paper are in to enhance cooperative path-planning algorithms, that allows for cooperation between autonomous and human-driven vehicles. We integrate the trajectory prediction of the human driver model (HDM) into the framework, such that the human vehicle influence the behaviour of the other agents. Mixed-integer quadratic programming (MIQP) it is appealing to solve the cooperative planning. The proposed method is evaluated by computational simulations, which show the effectiveness of our approach for a cooperative overtaking scenario comprising three vehicles in a three-lane, one way road. |
| Databáze: | OpenAIRE |
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