Scipediacontent: Scipediacontent moved page Draft Content 917106788 to Moutarde et al 2016a

2021-02-03T20:45:45Z

Scipediacontent moved page Draft Content 917106788 to Moutarde et al 2016a

Scipediacontent: Created page with " == Abstract == International audience; This paper presents an approach for formation control of autonomous vehicles traversing along a multi-lane road with obstacles and tra..."

2021-02-03T20:45:43Z

Created page with " == Abstract == International audience; This paper presents an approach for formation control of autonomous vehicles traversing along a multi-lane road with obstacles and tra..."

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== Abstract ==

International audience; This paper presents an approach for formation control of autonomous vehicles traversing along a multi-lane road with obstacles and traffic. A major challenge in this problem is a requirement for integrating individual vehicle behaviors such as lane-keeping and collision avoidance with a global formation maintenance behavior. We propose a hierarchical Model Predictive Control (MPC) approach. The desired formation is modeled as a virtual structure evolving curvilinearly along a centerline, and vehicle configurations are expressed as curvilinear relative longitudinal and lateral offsets from the virtual center. At high-level, the trajectory generation of the virtual center is achieved through an MPC framework, which allows various on-road driving constraints to be considered in the optimization. At low-level, a local MPC controller computes the vehicle inputs in order to track the desired trajectory, taking into account more personalized driving constraints. High-fidelity simulations show that the proposed approach drives vehicles to the desired formation while retains some freedom for individual vehicle behaviors.

== Original document ==

The different versions of the original document can be found in:

* [https://hal.archives-ouvertes.fr/hal-01298637/file/Convoy.pdf https://hal.archives-ouvertes.fr/hal-01298637/file/Convoy.pdf]

* [http://xplorestaging.ieee.org/ielx7/7527552/7535353/07535413.pdf?arnumber=7535413 http://xplorestaging.ieee.org/ielx7/7527552/7535353/07535413.pdf?arnumber=7535413],
: [http://dx.doi.org/10.1109/ivs.2016.7535413 http://dx.doi.org/10.1109/ivs.2016.7535413]

* [https://dblp.uni-trier.de/db/conf/ivs/ivs2016.html#QianFM16 https://dblp.uni-trier.de/db/conf/ivs/ivs2016.html#QianFM16],
: [https://ieeexplore.ieee.org/document/7535413 https://ieeexplore.ieee.org/document/7535413],
: [https://hal.archives-ouvertes.fr/hal-01298637/document https://hal.archives-ouvertes.fr/hal-01298637/document],
: [https://hal.archives-ouvertes.fr/hal-01298637 https://hal.archives-ouvertes.fr/hal-01298637],
: [https://academic.microsoft.com/#/detail/2341044251 https://academic.microsoft.com/#/detail/2341044251]

* [https://hal.archives-ouvertes.fr/hal-01298637 https://hal.archives-ouvertes.fr/hal-01298637],
: [https://hal.archives-ouvertes.fr/hal-01298637v2/document https://hal.archives-ouvertes.fr/hal-01298637v2/document],
: [https://hal.archives-ouvertes.fr/hal-01298637/file/Convoy.pdf https://hal.archives-ouvertes.fr/hal-01298637/file/Convoy.pdf]

* [https://hal.archives-ouvertes.fr/hal-01298637 https://hal.archives-ouvertes.fr/hal-01298637],
: [https://hal.archives-ouvertes.fr/hal-01298637v2/document https://hal.archives-ouvertes.fr/hal-01298637v2/document],
: [https://hal.archives-ouvertes.fr/hal-01298637v2/file/Convoy.pdf https://hal.archives-ouvertes.fr/hal-01298637v2/file/Convoy.pdf]

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Moutarde et al 2016a - Revision history

Scipediacontent: Scipediacontent moved page Draft Content 917106788 to Moutarde et al 2016a

Scipediacontent: Created page with " == Abstract == International audience; This paper presents an approach for formation control of autonomous vehicles traversing along a multi-lane road with obstacles and tra..."