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Abstract
International audience; This paper presents an approach for formation control of autonomous vehicles traversing along a multi-lane road with obstacles and traffic. A major challenge in this problem is a requirement for integrating individual vehicle behaviors such as lane-keeping and collision avoidance with a global formation maintenance behavior. We propose a hierarchical Model Predictive Control (MPC) approach. The desired formation is modeled as a virtual structure evolving curvilinearly along a centerline, and vehicle configurations are expressed as curvilinear relative longitudinal and lateral offsets from the virtual center. At high-level, the trajectory generation of the virtual center is achieved through an MPC framework, which allows various on-road driving constraints to be considered in the optimization. At low-level, a local MPC controller computes the vehicle inputs in order to track the desired trajectory, taking into account more personalized driving constraints. High-fidelity simulations show that the proposed approach drives vehicles to the desired formation while retains some freedom for individual vehicle behaviors.
Original document
The different versions of the original document can be found in:
- https://ieeexplore.ieee.org/document/7535413,
- https://hal.archives-ouvertes.fr/hal-01298637/document,
- https://hal.archives-ouvertes.fr/hal-01298637,
- https://academic.microsoft.com/#/detail/2341044251
Document information
Published on 01/01/2016
Volume 2016, 2016
DOI: 10.1109/ivs.2016.7535413
Licence: CC BY-NC-SA license
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