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• W2882405518 abstract "A path-planning algorithm for automated road vehicles on multi-lane motorways is derived from the opportune formulation of an optimal control problem. In this framework, the objective function to be minimized contains appropriate respective terms to reflect: the goals of the vehicle advancement; passenger comfort; prevailing traffic rules (e.g., overtaking only from left); and the avoidance of obstacles (other moving vehicles) and of the vehicle departing from the road. Each term is coupled with a weighting factor that reflects its comparative importance. For the numerical solution of the optimal control problem, a very efficient feasible direction algorithm is used. To avoid local minima, a simplified dynamic programming algorithm is also conceived to deliver the initial guess trajectory for the optimal control algorithm. With low computation times, the approach is readily executable within a model-predictive control frame. The performance of the proposed algorithm is illustrated using two typical driving scenarios." @default.
• W2882405518 created "2018-07-19" @default.
• W2882405518 creator A5057445534 @default.
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• W2882405518 date "2018-07-11" @default.
• W2882405518 modified "2023-09-27" @default.
• W2882405518 title "Motorway Path Planning for Automated Road Vehicles Based on Optimal Control Methods" @default.
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• W2882405518 doi "https://doi.org/10.1177/0361198118780710" @default.
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