Spatiotemporal Receding Horizon Control with Proactive Interaction Towards Autonomous Driving in Dense Traffic
IEEE Transactions on Intelligent Vehicles(2023)
摘要
In dense traffic scenarios, ensuring safety while keeping high task
performance for autonomous driving is a critical challenge. To address this
problem, this paper proposes a computationally-efficient spatiotemporal
receding horizon control (ST-RHC) scheme to generate a safe, dynamically
feasible, energy-efficient trajectory in control space, where different driving
tasks in dense traffic can be achieved with high accuracy and safety in real
time. In particular, an embodied spatiotemporal safety barrier module
considering proactive interactions is devised to mitigate the effects of
inaccuracies resulting from the trajectory prediction of other vehicles.
Subsequently, the motion planning and control problem is formulated as a
constrained nonlinear optimization problem, which favorably facilitates the
effective use of off-the-shelf optimization solvers in conjunction with
multiple shooting. The effectiveness of the proposed ST-RHC scheme is
demonstrated through comprehensive comparisons with state-of-the-art algorithms
on synthetic and real-world traffic datasets under dense traffic, and the
attendant outcome of superior performance in terms of accuracy, efficiency and
safety is achieved.
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关键词
Autonomous driving,receding horizon control,spatiotemporal safety,dense traffic
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