A cooperative driving NLMPC for real time collision avoidance

Ugo Rosolia, Francesco Braghin, Edoardo Sabbioni, Andrew Alleyne, Stijn De Bruyne

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication17th International Conference on Advanced Vehicle Technologies; 12th International Conference on Design Education; 8th Frontiers in Biomedical Devices
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791857106
DOIs
StatePublished - Jan 1 2015
EventASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 - Boston, United States
Duration: Aug 2 2015Aug 5 2015

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume3

Other

OtherASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
CountryUnited States
CityBoston
Period8/2/158/5/15

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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  • Cite this

    Rosolia, U., Braghin, F., Sabbioni, E., Alleyne, A., & De Bruyne, S. (2015). A cooperative driving NLMPC for real time collision avoidance. In 17th International Conference on Advanced Vehicle Technologies; 12th International Conference on Design Education; 8th Frontiers in Biomedical Devices (Proceedings of the ASME Design Engineering Technical Conference; Vol. 3). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC2015-47463