Interaction-Aware Vehicle Motion Planning with Collision Avoidance Constraints in Highway Traffic
Fuente:
arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866909157245845504 |
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| author | Kim, Dongryul Kim, Hyeonjeong Han, Kyoungseok |
| author_facet | Kim, Dongryul Kim, Hyeonjeong Han, Kyoungseok |
| contents | This paper proposes collision-free optimal trajectory planning for autonomous vehicles in highway traffic, where vehicles need to deal with the interaction among each other. To address this issue, a novel optimal control framework is suggested, which couples the trajectory of surrounding vehicles with collision avoidance constraints. Additionally, we describe a trajectory optimization technique under state constraints, utilizing a planner based on Pontryagin's Minimum Principle, capable of numerically solving collision avoidance scenarios with surrounding vehicles. Simulation results demonstrate the effectiveness of the proposed approach regarding interaction-based motion planning for different scenarios. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_01661 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Interaction-Aware Vehicle Motion Planning with Collision Avoidance Constraints in Highway Traffic Kim, Dongryul Kim, Hyeonjeong Han, Kyoungseok Robotics Systems and Control This paper proposes collision-free optimal trajectory planning for autonomous vehicles in highway traffic, where vehicles need to deal with the interaction among each other. To address this issue, a novel optimal control framework is suggested, which couples the trajectory of surrounding vehicles with collision avoidance constraints. Additionally, we describe a trajectory optimization technique under state constraints, utilizing a planner based on Pontryagin's Minimum Principle, capable of numerically solving collision avoidance scenarios with surrounding vehicles. Simulation results demonstrate the effectiveness of the proposed approach regarding interaction-based motion planning for different scenarios. |
| title | Interaction-Aware Vehicle Motion Planning with Collision Avoidance Constraints in Highway Traffic |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2404.01661 |