AAC 2019 Paper Abstract

AAC 2019 Paper Abstract

Paper MoBT1.1

Anistratov, Pavel (Linköping University), Olofsson, Bjorn (Lund University), Nielsen, Lars (Linköping University)

Efficient Motion Planning for Autonomous Vehicle Maneuvers Using Duality-Based Decomposition

Scheduled for presentation during the Regular Session "Motion and Path Planning for Autonomous Vehicle" (MoBT1), Monday, June 24, 2019, 15:30−15:50, Chambord

9th IFAC International Symposium on Advances in Automotive Control, June 23-27, 2019, Orléans, France

This information is tentative and subject to change. Compiled on April 24, 2024

Keywords Autonomous Driving and Collision Avoidance: Sensor Fusion, Modeling of the Environment, Control Architectures, Integrated Motion Control: Direct Yaw Control/Electronic Stability Control, 4 Wheel Steering,X-by-Wire, Active Suspensions and Roll Bars

Abstract

A method to decompose a motion-planning problem into several segments is presented. It is based on a modification of the original problem, such that certain variables at the splitting points are considered to be precomputed and thus fixed and the remaining variables are obtained by performing Lagrange relaxation. The resulting dual problem is split into several subproblems, allowing parallel computation. The method is formalized as a computational algorithm and evaluated in a safety critical double lane-change situation. The resulting maneuver has close-to-optimal behavior and, for certain initialization strategies, it is obtained in shorter computational time compared to computing the full maneuver in one step.