Motorway Path Planning for Automated Road Vehicles Based on Optimal Control Methods

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.

• Record URL:
  https://doi.org/10.1177/0361198118780710
• Record URL:
  https://doi.org/10.1177/0361198118780710
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/03611981
• Authors:
  • Makantasis, Konstantinos
  • Papageorgiou, Markos
• Publication Date: 2018

Language

• English

Media Info

• Media Type: Print
• Features: Figures; References;
• Pagination: pp 112-123
• Serial:
  • Transportation Research Record: Journal of the Transportation Research Board
  • Volume: 2672
  • Issue Number: 19
  • Publisher: Sage Publications, Incorporated
  • ISSN: 0361-1981
  • EISSN: 2169-4052
  • Serial URL: http://journals.sagepub.com/home/trr

Subject/Index Terms

• TRT Terms: Algorithms; Highway traffic control; Intelligent vehicles; Multilane highways; Trajectory control
• Subject Areas: Highways; Operations and Traffic Management;

Filing Info

• Accession Number: 01659914
• Record Type: Publication
• Report/Paper Numbers: 18-01437
• Files: TRIS, TRB, ATRI
• Created Date: Feb 13 2018 9:52AM