Sun, Mengge (Tongji University), Guo, Chongyu (Tongji University), Guo, Lulu (Tongji University), Hang, Peng (Tongji University), Chen, Hong (Tongji University)

Hierarchical Trajectory Optimization for Multi-Vehicle Safe-Conscious Collaborative Autonomous Driving

Scheduled for presentation during the Invited session "Control, Simulation and Modeling of Intelligent Vehicles" (ThA3), Thursday, October 31, 2024, 10:50−11:10, Room T3

7th IFAC Conference on Engine and Powertrain Control, Simulation and Modeling, Oct 30 - Nov 1, 2024, Dalian, China

This information is tentative and subject to change. Compiled on May 16, 2025

Abstract

Collaborative control among multi-vehicles presents an opportunity to enhance the global driving efficiency and interactive safety. This paper proposes a hierarchical trajectory optimization method within connected scenario to reduce the global driving time while guaranteeing the collision-avoidance among vehicles. This two-layers framework is capable to ensure the interactive safety in global and local aspects, respectively. In upper layer, the driving priorities are planed with consideration of the global efficiency. Then the priority choices are utilized as a guidance of iteration order and constraints in the lower layer, so as to conduct the trajectory optimization within a close range. Finally, the simulation results and comparison with baseline methods showcase the effectiveness and superiority of the proposed method.