Institutional Repository
Technical University of Crete
Technical University of Crete
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| URI: | http://purl.tuc.gr/dl/dias/CDD5A9CB-6AB2-435E-B829-CC9A58800DE9 | ||
| Year | 2018 | ||
| Type of Item | Peer-Reviewed Journal Publication | ||
| License |
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| Bibliographic Citation | K. Makantasis and M. Papageorgiou, "Motorway path planning for automated road vehicles based on optimal control methods," Transportation Res. Rec., vol. 2672, no. 19, pp. 112-123, July 2018. doi: 10.1177/0361198118780710 https://doi.org/10.1177/0361198118780710 | ||
| Appears in Collections |
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.
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