SLAS: Speed and Lane Advisory System for Highway Navigation

Autor:	Tariq, Faizan M., Isele, David, Baras, John S., Bae, Sangjae
Rok vydání:	2023
Předmět:	Computer Science - Robotics Electrical Engineering and Systems Science - Systems and Control
Zdroj:	2022 IEEE 61st Conference on Decision and Control (CDC), Cancun, Mexico, 2022, pp. 6979-6986
Druh dokumentu:	Working Paper
DOI:	10.1109/CDC51059.2022.9992401
Popis:	This paper proposes a hierarchical autonomous vehicle navigation architecture, composed of a high-level speed and lane advisory system (SLAS) coupled with low-level trajectory generation and trajectory following modules. Specifically, we target a multi-lane highway driving scenario where an autonomous ego vehicle navigates in traffic. We propose a novel receding horizon mixed-integer optimization based method for SLAS with the objective to minimize travel time while accounting for passenger comfort. We further incorporate various modifications in the proposed approach to improve the overall computational efficiency and achieve real-time performance. We demonstrate the efficacy of the proposed approach in contrast to the existing methods, when applied in conjunction with state-of-the-art trajectory generation and trajectory following frameworks, in a CARLA simulation environment. Comment: Presented at the IEEE 61st Conference on Decision and Control (CDC), Cancun, Mexico, 2022
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2303.00861 Zobrazit plný text záznamu View this record from Arxiv