TY - GEN
T1 - A cooperative driving NLMPC for real time collision avoidance
AU - Rosolia, Ugo
AU - Braghin, Francesco
AU - Sabbioni, Edoardo
AU - Alleyne, Andrew
AU - De Bruyne, Stijn
PY - 2015
Y1 - 2015
N2 - A decentralized cooperative driving Non Linear Model Predictive Control (NLMPC) approach for path following and collision avoidance is presented in this paper. The proposed decentralized approach is based on an information network, which communicates when two or more vehicles are near and so they might collide. In the case in which vehicles are far, online trajectory control is independently computed on-board by means of a NLMPC. When two or more vehicles get closer, trajectory control is no more independently carried out: optimal solution for these vehicles is coupled and thus their trajectories are computed dependently. Performance of the proposed decentralized NLMPC for cooperative driving was assessed through numerical simulations involving two vehicles. Results were compared with ones of a centralized approach to assess optimality of the solution.
AB - A decentralized cooperative driving Non Linear Model Predictive Control (NLMPC) approach for path following and collision avoidance is presented in this paper. The proposed decentralized approach is based on an information network, which communicates when two or more vehicles are near and so they might collide. In the case in which vehicles are far, online trajectory control is independently computed on-board by means of a NLMPC. When two or more vehicles get closer, trajectory control is no more independently carried out: optimal solution for these vehicles is coupled and thus their trajectories are computed dependently. Performance of the proposed decentralized NLMPC for cooperative driving was assessed through numerical simulations involving two vehicles. Results were compared with ones of a centralized approach to assess optimality of the solution.
UR - http://www.scopus.com/inward/record.url?scp=84979074704&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84979074704&partnerID=8YFLogxK
U2 - 10.1115/DETC2015-47463
DO - 10.1115/DETC2015-47463
M3 - Conference contribution
AN - SCOPUS:84979074704
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 17th International Conference on Advanced Vehicle Technologies; 12th International Conference on Design Education; 8th Frontiers in Biomedical Devices
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
Y2 - 2 August 2015 through 5 August 2015
ER -