Optimal longitudinal control planning with moving obstacles


Conference Paper

At intersections and in merging traffic, intelligent road vehicles must solve challenging optimal control problems in real-time to navigate reliably around moving obstacles. We present a complete planner that computes collision-free, optimal longitudinal control sequences (acceleration and braking) using a novel visibility graph approach that analytically computes the reachable subset of path-velocity-time space. We demonstrate that our method plans over an order of magnitude faster than previous approaches, making it scalable and fast enough (tenths of a second on a PC) to be called repeatedly on-line. We demonstrate applications to autonomous driving and vehicle collision warning systems with many moving obstacles. © 2013 IEEE.

Full Text

Duke Authors

Cited Authors

  • Johnson, J; Hauser, K

Published Date

  • December 1, 2013

Published In

  • Ieee Intelligent Vehicles Symposium, Proceedings

Start / End Page

  • 605 - 611

International Standard Book Number 13 (ISBN-13)

  • 9781467327558

Digital Object Identifier (DOI)

  • 10.1109/IVS.2013.6629533

Citation Source

  • Scopus