Interaction-Aware Vehicle Motion Planning with Collision Avoidance Constraints in Highway Traffic

2024/04/02 by Kim, Dongryul, Kim, Hyeonjeong, Han, Kyoungseok
#FOS: Computer and information sciences #FOS: Electrical engineering #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · doi:10.48550/arxiv.2404.01661

Abstract

This paper proposes collision-free optimal trajectory planning for autonomous vehicles in highway traffic, where vehicles need to deal with the interaction among each other. To address this issue, a novel optimal control framework is suggested, which couples the trajectory of surrounding vehicles with collision avoidance constraints. Additionally, we describe a trajectory optimization technique under state constraints, utilizing a planner based on Pontryagin's Minimum Principle, capable of numerically solving collision avoidance scenarios with surrounding vehicles. Simulation results demonstrate the effectiveness of the proposed approach regarding interaction-based motion planning for different scenarios.

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