In this paper we propose a real-time maneuver generation algorithm for Autonomous Vehicles (AVs). Given a planar road geometry with static and moving obstacles along it, we are interested in finding collision-free maneuvers that satisfied the AV’s dynamics and subject to physical and comfort limits. Based on longitudinal and transverse coordinates, we propose a novel collision avoidance constraint and formulate a suitable maneuver regulation optimal control problem. Maneuver regulation has intrinsic robustness with respect to standard trajectory tracking that stems from the requirement of following a desired path with a desired velocity profile assigned on it. The optimization problem is solved by using a nonlinear optimal control technique that generates (local) optimal trajectories. We demonstrate the efficacy of the proposed algorithm by providing numerical computations on two different scenarios. Finally, experimental results are presented to demonstrate the efficiency of the proposed algorithm both in terms of computational effort and dynamic features captured.

A Real-time Collision-free Maneuver Generation Algorithm for Autonomous Driving / Laneve, Francesco; Rucco, Alessandro; Bertozzi, Massimo. - In: EUROPEAN JOURNAL OF CONTROL. - ISSN 0947-3580. - (2023), p. 100865. [10.1016/j.ejcon.2023.100865]

A Real-time Collision-free Maneuver Generation Algorithm for Autonomous Driving

Laneve, Francesco
;
Bertozzi, Massimo
2023-01-01

Abstract

In this paper we propose a real-time maneuver generation algorithm for Autonomous Vehicles (AVs). Given a planar road geometry with static and moving obstacles along it, we are interested in finding collision-free maneuvers that satisfied the AV’s dynamics and subject to physical and comfort limits. Based on longitudinal and transverse coordinates, we propose a novel collision avoidance constraint and formulate a suitable maneuver regulation optimal control problem. Maneuver regulation has intrinsic robustness with respect to standard trajectory tracking that stems from the requirement of following a desired path with a desired velocity profile assigned on it. The optimization problem is solved by using a nonlinear optimal control technique that generates (local) optimal trajectories. We demonstrate the efficacy of the proposed algorithm by providing numerical computations on two different scenarios. Finally, experimental results are presented to demonstrate the efficiency of the proposed algorithm both in terms of computational effort and dynamic features captured.
2023
A Real-time Collision-free Maneuver Generation Algorithm for Autonomous Driving / Laneve, Francesco; Rucco, Alessandro; Bertozzi, Massimo. - In: EUROPEAN JOURNAL OF CONTROL. - ISSN 0947-3580. - (2023), p. 100865. [10.1016/j.ejcon.2023.100865]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11381/2948312
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