A Hybrid Planning Approach Based on MPC and Parametric Curves for Overtaking Maneuvers

Abstract

Automated Driving Systems (ADS) have received a considerable amount of attention in the last few decades, as part of the Intelligent Transportation Systems (ITS) field. However, this technology still lacks total automation capacities while keeping driving comfort and safety under risky scenarios, for example, overtaking, obstacle avoidance, or lane changing. Consequently, this work presents a novel method to resolve the obstacle avoidance and overtaking problems named Hybrid Planning. This solution combines the passenger’s comfort associated with the smoothness of Bézier curves and the reliable capacities of Model Predictive Control (MPC) to react against unexpected conditions, such as obstacles on the lane, overtaking and lane-change based maneuvers. A decoupled linear-model was used for the MPC formulation to ensure short computation times. The obstacles and other vehicles’ information are obtained via V2X (vehicle communications). The tests were performed in an automated Renault Twizy vehicle and they have shown good performance under complex scenarios involving static and moving obstacles at a maximum speed of 60 kph.

A discrete-time linear model predictive control for motion planning of an autonomous vehicle with adaptive cruise control and obstacle overtaking

“…However, the proposed method does not consider acceleration and jerk, and it may create uncomfortable driving motions. Lattarulo and Pérez Rastelli 33 limited the range of longitudinal acceleration and jerk, and lateral acceleration to improve driving comfort. However, the proposed method only considers the minimization of path tracking error and speed error when planning motion.…”

Conversion Between Cubic Bezier Curves and Catmull–Rom Splines

“…Describing the camera trajectory using continuous B-splines offers the advantage that any exposure time along the path can be interpolated and thus allows for correcting the rolling shutter for both monocular [24] and stereo (RGB-D) [20] cameras. To predict and plan the future paths for Automated Driving Systems (ADS), while taking into account obstacles and driving comfort, it was shown that Bézier curves are a reliable solution for an optimal trajectory generation [11,21].…”

“…This short review of interdisciplinary research contains many different types of spline representation, such as Bézier [7,11,21], Catmull-Rom [8], B-Splines [20,24] and Non-uniform Rational B-Spline (NURBS) [12] surfaces. This shows the relevance of providing conversion methods between the various representations of which one is discussed in this paper.…”

UAV Formation Control Under Communication Constraints Based on Distributed Model Predictive Control

“…As an unmanned operational intelligence capable of multiple functions, Unmanned Aerial Vehicles (UAVs) are widely used in military and civilian applications due to their low cost, ease of integration and modular design [1][2][3][4][5]. UAVs formations are gradually replacing single UAV in complex missions due to their greater endurance and ability to handle complex missions compared to single UAV.…”