Combining Event-Based Maneuver Selection and MPC Based Trajectory Generation in Autonomous Driving
Maneuver planning, which plays a key role in selecting desired lanes and speeds, is an essential element of autonomous driving. Generally, for a vehicle driving on a multilane road, there are several potential maneuvers in both longitudinal and lateral directions. Selecting the best maneuver from th...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-05-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/11/10/1518 |
| _version_ | 1797500293549654016 |
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| author | Ni Dang Tim Brüdigam Marion Leibold Martin Buss |
| author_facet | Ni Dang Tim Brüdigam Marion Leibold Martin Buss |
| author_sort | Ni Dang |
| collection | DOAJ |
| description | Maneuver planning, which plays a key role in selecting desired lanes and speeds, is an essential element of autonomous driving. Generally, for a vehicle driving on a multilane road, there are several potential maneuvers in both longitudinal and lateral directions. Selecting the best maneuver from the various options represents a significant challenge. In this paper, we propose a maneuver selection algorithm and combine it with a trajectory generation algorithm, which is based on model predictive control (MPC). The maneuver selection method is a higher-level planner, which selects only one maneuver from all possible maneuvers based on the current situation and delivers it to a lower-level MPC-based trajectory tracking controller. The effectiveness of the proposed algorithm is validated by simulating an overtaking scenario on a multilane highway. |
| first_indexed | 2024-03-10T03:59:50Z |
| format | Article |
| id | doaj.art-474c817cacf247fe83ad3c10c5c78d0b |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-10T03:59:50Z |
| publishDate | 2022-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-474c817cacf247fe83ad3c10c5c78d0b2023-11-23T10:46:18ZengMDPI AGElectronics2079-92922022-05-011110151810.3390/electronics11101518Combining Event-Based Maneuver Selection and MPC Based Trajectory Generation in Autonomous DrivingNi Dang0Tim Brüdigam1Marion Leibold2Martin Buss3Department of Electrical and Computer Engineering, Technical University of Munich, 80333 Munich, GermanyDepartment of Electrical and Computer Engineering, Technical University of Munich, 80333 Munich, GermanyDepartment of Electrical and Computer Engineering, Technical University of Munich, 80333 Munich, GermanyDepartment of Electrical and Computer Engineering, Technical University of Munich, 80333 Munich, GermanyManeuver planning, which plays a key role in selecting desired lanes and speeds, is an essential element of autonomous driving. Generally, for a vehicle driving on a multilane road, there are several potential maneuvers in both longitudinal and lateral directions. Selecting the best maneuver from the various options represents a significant challenge. In this paper, we propose a maneuver selection algorithm and combine it with a trajectory generation algorithm, which is based on model predictive control (MPC). The maneuver selection method is a higher-level planner, which selects only one maneuver from all possible maneuvers based on the current situation and delivers it to a lower-level MPC-based trajectory tracking controller. The effectiveness of the proposed algorithm is validated by simulating an overtaking scenario on a multilane highway.https://www.mdpi.com/2079-9292/11/10/1518model predictive controlmaneuver planningautonomous driving |
| spellingShingle | Ni Dang Tim Brüdigam Marion Leibold Martin Buss Combining Event-Based Maneuver Selection and MPC Based Trajectory Generation in Autonomous Driving Electronics model predictive control maneuver planning autonomous driving |
| title | Combining Event-Based Maneuver Selection and MPC Based Trajectory Generation in Autonomous Driving |
| title_full | Combining Event-Based Maneuver Selection and MPC Based Trajectory Generation in Autonomous Driving |
| title_fullStr | Combining Event-Based Maneuver Selection and MPC Based Trajectory Generation in Autonomous Driving |
| title_full_unstemmed | Combining Event-Based Maneuver Selection and MPC Based Trajectory Generation in Autonomous Driving |
| title_short | Combining Event-Based Maneuver Selection and MPC Based Trajectory Generation in Autonomous Driving |
| title_sort | combining event based maneuver selection and mpc based trajectory generation in autonomous driving |
| topic | model predictive control maneuver planning autonomous driving |
| url | https://www.mdpi.com/2079-9292/11/10/1518 |
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