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Efficient Motion Planning for Autonomous Vehicle Maneuvers Using Duality-Based Decomposition
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. Lund Univ, Sweden.ORCID iD: 0000-0003-1320-032X
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
2019 (English)In: IFAC PAPERSONLINE, ELSEVIER , 2019, Vol. 52, no 5, p. 78-84Conference paper, Published paper (Refereed)
Abstract [en]

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. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

Place, publisher, year, edition, pages
ELSEVIER , 2019. Vol. 52, no 5, p. 78-84
Keywords [en]
trajectory and path planning; autonomous vehicles; duality-based decomposition; motion control; safety; intelligent transportation systems
National Category
Computational Mathematics
Identifiers
URN: urn:nbn:se:liu:diva-161215DOI: 10.1016/j.ifacol.2019.09.013ISI: 000486629500014OAI: oai:DiVA.org:liu-161215DiVA, id: diva2:1365651
Conference
9th IFAC International Symposium on Advances in Automotive Control (AAC)
Note

Funding Agencies|Wallenberg AI, Autonomous Systems and Software Program (WASP) - Knut and Alice Wallenberg Foundation

Available from: 2019-10-25 Created: 2019-10-25 Last updated: 2019-10-25

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CiteExportLink to record
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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
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