Abstract:
In this paper a combined longitudinal and lateral trajectory planning approach is presented using an linear-time-varying model predictive control (LTV-MPC) scheme. To con...Show MoreMetadata
Abstract:
In this paper a combined longitudinal and lateral trajectory planning approach is presented using an linear-time-varying model predictive control (LTV-MPC) scheme. To consider uncertain moving object state and prediction information, an adaptive potential field is modelled generating a time-varying obstacle cost-term. Approximating the nonlinear planning problem along the previous planned control and state sequence results in an LTV-MPC planning problem and ensures small approximation errors of the original nonlinear formulation. The proposed LTV-MPC planning approach is analyzed in a collision avoidance scenario with a pedestrian. The results show a more defensive maneuver integrating the uncertain object prediction information in the planning problem and the proposed approximation scheme delivers a difference of 492,18 % in the relative approximation error of the cost function in the presented scenario compared to the widely used approach, approximating the planning problem by using the current vehicle state.
Date of Conference: 24-26 August 2020
Date Added to IEEE Xplore: 28 September 2020
ISBN Information: