Longitude Trajectory Optimization for Autonomous Vehicles: An Approach Based on Simplified Car-Following Model
In this paper, the authors present an approach to optimize longitude vehicle trajectories for autonomous vehicles based on the simplified (linear) car following model to minimize vehicles’ total travel cost and guarantee the minimal safety spacing between vehicles. Based on Newell’s linear car-following model, they formulate the multi-vehicle simultaneous trajectory optimization problem as a linear programming (LP) problem solvable with the commercial solvers, such as GAMS, at a small scale. In addition, they also formulate the same problem using the dynamic programming technique and develop efficient DP algorithms to guarantee the minimal safety distance between vehicles by a shifted state representation during searching the optimal trajectories. In the end, several numerical experiments are performed to illustrate how to use the approach proposed in this paper to optimize vehicle trajectories under different scenarios.
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Supplemental Notes:
- This paper was sponsored by TRB committee AHB45 Standing Committee on Traffic Flow Theory and Characteristics. Alternate title: Longitude Trajectory Optimization for Autonomous Vehicles: Approach Based on Simplified Car-Following Model.
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Corporate Authors:
500 Fifth Street, NW
Washington, DC United States 20001 -
Authors:
- Wei, Yuguang
- Liu, Jiangtao
- Li, Pengfei
- Zhou, Xuesong
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Conference:
- Transportation Research Board 95th Annual Meeting
- Location: Washington DC, United States
- Date: 2016-1-10 to 2016-1-14
- Date: 2016
Language
- English
Media Info
- Media Type: Digital/other
- Features: References; Tables;
- Pagination: 17p
- Monograph Title: TRB 95th Annual Meeting Compendium of Papers
Subject/Index Terms
- TRT Terms: Car following; Intelligent vehicles; Optimization; Vehicle trajectories
- Subject Areas: Highways; Operations and Traffic Management; Vehicles and Equipment;
Filing Info
- Accession Number: 01594168
- Record Type: Publication
- Report/Paper Numbers: 16-6895
- Files: TRIS, TRB, ATRI
- Created Date: Mar 21 2016 4:42PM