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Distributed Model Predictive Control for Highway Maneuvers
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
2017 (English)In: IFAC PAPERSONLINE, ELSEVIER SCIENCE BV , 2017, Vol. 50, no 1, p. 8531-8536Conference paper, Published paper (Refereed)
Abstract [en]

This paper describes a cooperative control method for autonomous vehicles, in order to perform different traffic maneuvers. The problem is formulated as a distributed optimal control problem for a system of multiple autonomous vehicles with an identified model and then solved using nonlinear Model Predictive Control (MPC). The distributed approach has been used in order to make the problem computationally feasible to be solved in real-time. In the proposed method, each vehicle computes its own control inputs using estimated states of neighboring vehicles. The constraints on the control inputs ensure the comfort of passengers. The method allows us to construct a cost function for several different scenarios in which safety and performing the maneuver constitute two terms of the integrated cost of the finite horizon optimization problem. To provide safety, a potential function is introduced for collision avoidance. Simulation results show that the distributed algorithm scales well with increasing number of vehicles. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

Place, publisher, year, edition, pages
ELSEVIER SCIENCE BV , 2017. Vol. 50, no 1, p. 8531-8536
Series
IFAC PAPERSONLINE, E-ISSN 2405-8963
Keyword [en]
Automated vehicles; Cooperative systems; MPC; Optimization
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-145851DOI: 10.1016/j.ifacol.2017.08.1406ISI: 000423964900411OAI: oai:DiVA.org:liu-145851DiVA, id: diva2:1192136
Conference
20th World Congress of the International-Federation-of-Automatic-Control (IFAC)
Available from: 2018-03-21 Created: 2018-03-21 Last updated: 2018-03-21

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Mohseni, FatemehFrisk, ErikÅslund, JanNielsen, Lars
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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
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  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
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  • nn-NB
  • sv-SE
  • Other locale
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Output format
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