This work considers the cooperative trajectory-planning problem along a double lane
change scenario for autonomous driving. In this paper, we develop two frameworks to solve
this problem based on distributed model predictive control (MPC). The first approach solves
a single nonlinear MPC problem. The general idea is to introduce a collision cost function in
the optimization problem at the planning task to achieve a smooth and bounded collision
function, and thus to prevent the need to implement tight hard constraints. The second …

This work considers the cooperative trajectory-planning problem along a double lane
change scenario for autonomous driving. In this paper we develop two frameworks to solve
this problem based on distributed model predictive control (MPC). The first approach solves
a single non-linear MPC problem. The general idea is to introduce a collision cost function in
the optimization problem at the planning task to achieve a smooth and bounded collision
function and thus to prevent the need to implement tight hard constraints. The second …