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Optimal path planning for connected and automated vehicles in lane-free traffic

Yanumula Venkata-Karteek, Typaldos Panagiotis, Troullinos Dimitrios, Malekzadehkebria Milad, Papamichail Ioannis, Papageorgiou Markos

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Year 2021
Type of Item Conference Full Paper
Bibliographic Citation V. K. Yanumula, P. Typaldos, D. Troullinos, M. Malekzadeh, I. Papamichail and M. Papageorgiou, "Optimal path planning for connected and automated vehicles in lane-free traffic," in 24th IEEE International Intelligent Transportation Systems Conference (ITSC 2021), 2021, pp. 3545-3552, doi: 10.1109/ITSC48978.2021.9564698.
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This paper develops a path planning algorithm for Connected and Automated Vehicles (CAVs) driving on a lane-free highway, according to a recently proposed novel paradigm for vehicular traffic in the era of CAVs. The approach considers a simple model of vehicle kinematics, along with appropriate constraints for control variables and road boundaries. Appropriate, partly competitive sub-objectives are designed to enable efficient vehicle advancement, while avoiding collisions with other vehicles and infeasible vehicle maneuvers. Based on these elements, a nonlinear Optimal Control Problem (OCP) is formulated for each ego vehicle, and a Feasible Direction Algorithm (FDA) is employed for its computationally efficient numerical solution. The OCP is solved repeatedly for short time horizons within a Model Predictive Control (MPC) framework, while the vehicle advances. It is demonstrated via traffic simulation, involving many such vehicles, on a lane-free ring-road that the proposed approach delivers promising results and can be considered as a candidate for use in further developments related to lane-free CAV traffic.

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