作者
Lei Zheng, Rui Yang, Zengqi Peng, Haichao Liu, Michael Yu Wang, Jun Ma
发表日期
2023/9/11
研讨会论文
2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)
页码范围
1186-1193
出版商
IEEE
简介
Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffic. This paper proposes a real-time parallel trajectory optimization method for the AV to achieve high travel efficiency in dynamic and congested environments. A spatiotemporal safety module is developed to facilitate the safe interaction between the AV and SVs in the presence of trajectory prediction errors resulting from the multi-modal behaviors of the SVs. By leveraging multiple shooting and constraint transcription, we transform the trajectory optimization problem into a nonlinear programming problem, which allows for the use of optimization solvers and parallel computing techniques to generate multiple feasible trajectories in parallel. Subsequently, these spatiotemporal trajectories are fed into a multi-objective eval-uation module …
学术搜索中的文章
L Zheng, R Yang, Z Peng, H Liu, MY Wang, J Ma - 2023 IEEE 26th International Conference on Intelligent …, 2023