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Interaction-Aware Moving Target Model Predictive Control for Autonomous Vehicles Motion Planning

Zhou, Jian ; Olofsson, Björn LU and Frisk, Erik (2022) European Control Conference 2022 p.154-161
Abstract
This paper investigates an integrated traffic environment modeling and model predictive control (MPC) system to realize interaction-aware dynamic motion planning of an autonomous vehicle with multiple surrounding vehicles. The interaction-aware interacting multiple model Kalman filter (IAIMM-KF) from the literature is used to hierarchically predict maneuvers and trajectories of surrounding vehicles and to compute safe targets for the ego vehicle. The targets are terminal speed and reference lane, which are moving targets as they are updated at each time step. Then, an MPC controller is designed for the ego vehicle to generate an optimal trajectory by following the moving targets and including the prediction results to formulate... (More)
This paper investigates an integrated traffic environment modeling and model predictive control (MPC) system to realize interaction-aware dynamic motion planning of an autonomous vehicle with multiple surrounding vehicles. The interaction-aware interacting multiple model Kalman filter (IAIMM-KF) from the literature is used to hierarchically predict maneuvers and trajectories of surrounding vehicles and to compute safe targets for the ego vehicle. The targets are terminal speed and reference lane, which are moving targets as they are updated at each time step. Then, an MPC controller is designed for the ego vehicle to generate an optimal trajectory by following the moving targets and including the prediction results to formulate collision-free constraints. The proposed interaction-aware planning method has a proactive planning ability and can avoid collisions by non-local replanning. The strengths and effectiveness of the approach are verified in challenging highway lane-change simulation scenarios. (Less)
Please use this url to cite or link to this publication:
author
; and
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
2022 European Control Conference (ECC)
pages
154 - 161
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
European Control Conference 2022
conference location
London, United Kingdom
conference dates
2022-07-12 - 2022-07-15
external identifiers
  • scopus:85136697660
ISBN
978-1-6654-9733-6
978-3-9071-4407-7
DOI
10.23919/ECC55457.2022.9838002
project
RobotLab LTH
ELLIIT B14: Autonomous Force-Aware Swift Motion Control
language
English
LU publication?
no
id
12c0ccd3-1e0c-4950-977c-0ed855600420
date added to LUP
2023-01-16 22:47:23
date last changed
2024-04-18 07:45:04
@inproceedings{12c0ccd3-1e0c-4950-977c-0ed855600420,
  abstract     = {{This paper investigates an integrated traffic environment modeling and model predictive control (MPC) system to realize interaction-aware dynamic motion planning of an autonomous vehicle with multiple surrounding vehicles. The interaction-aware interacting multiple model Kalman filter (IAIMM-KF) from the literature is used to hierarchically predict maneuvers and trajectories of surrounding vehicles and to compute safe targets for the ego vehicle. The targets are terminal speed and reference lane, which are moving targets as they are updated at each time step. Then, an MPC controller is designed for the ego vehicle to generate an optimal trajectory by following the moving targets and including the prediction results to formulate collision-free constraints. The proposed interaction-aware planning method has a proactive planning ability and can avoid collisions by non-local replanning. The strengths and effectiveness of the approach are verified in challenging highway lane-change simulation scenarios.}},
  author       = {{Zhou, Jian and Olofsson, Björn and Frisk, Erik}},
  booktitle    = {{2022 European Control Conference (ECC)}},
  isbn         = {{978-1-6654-9733-6}},
  language     = {{eng}},
  pages        = {{154--161}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  title        = {{Interaction-Aware Moving Target Model Predictive Control for Autonomous Vehicles Motion Planning}},
  url          = {{http://dx.doi.org/10.23919/ECC55457.2022.9838002}},
  doi          = {{10.23919/ECC55457.2022.9838002}},
  year         = {{2022}},
}