Interaction-Aware Vehicle Motion Planning with Collision Avoidance Constraints in Highway Traffic
CoRR(2024)
摘要
This paper proposes collision-free optimal trajectory planning for autonomous
vehicles in highway traffic, where vehicles need to deal with the interaction
among each other. To address this issue, a novel optimal control framework is
suggested, which couples the trajectory of surrounding vehicles with collision
avoidance constraints. Additionally, we describe a trajectory optimization
technique under state constraints, utilizing a planner based on Pontryagin's
Minimum Principle, capable of numerically solving collision avoidance scenarios
with surrounding vehicles. Simulation results demonstrate the effectiveness of
the proposed approach regarding interaction-based motion planning for different
scenarios.
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关键词
Path Planning,Highway Traffic,Collision Avoidance Constraints,Simulation Results,Minimalist,Optimal Control,Autonomous Vehicles,Trajectory Optimization,State Constraints,Minimum Principle,Trajectory Planning,Collision-free Trajectory,Optimization Problem,Markov Chain,Performance Indicators,Cost Function,State Space,Control Input,Control Problem,Equation Of State,Optimal Control Problem,Lane Change,Model Predictive Control,Transition Probability Matrix,Adjacent Lane,Hamiltonian Function,Longitudinal Position,Lane Change Maneuver,Optimal State,Lateral Position
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