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Combining Event-Based Maneuver Selection and MPC Based Trajectory Generation in Autonomous Driving
| Content Provider | MDPI |
|---|---|
| Author | Tim, Brüdigam Dang, Ni Leibold, Marion Buss, Martin |
| Copyright Year | 2022 |
| Description | Maneuver planning, which plays a key role in selecting desired lanes and speeds, is an essential element of autonomous driving. Generally, for a vehicle driving on a multilane road, there are several potential maneuvers in both longitudinal and lateral directions. Selecting the best maneuver from the various options represents a significant challenge. In this paper, we propose a maneuver selection algorithm and combine it with a trajectory generation algorithm, which is based on model predictive control (MPC). The maneuver selection method is a higher-level planner, which selects only one maneuver from all possible maneuvers based on the current situation and delivers it to a lower-level MPC-based trajectory tracking controller. The effectiveness of the proposed algorithm is validated by simulating an overtaking scenario on a multilane highway. |
| Starting Page | 1518 |
| e-ISSN | 20799292 |
| DOI | 10.3390/electronics11101518 |
| Journal | Electronics |
| Issue Number | 10 |
| Volume Number | 11 |
| Language | English |
| Publisher | MDPI |
| Publisher Date | 2022-05-10 |
| Access Restriction | Open |
| Subject Keyword | Electronics Transportation Science and Technology Model Predictive Control Maneuver Planning Autonomous Driving |
| Content Type | Text |
| Resource Type | Article |
