A cooperative driving NLMPC for real time collision avoidance

Ugo Rosolia; Francesco Braghin; Edoardo Sabbioni; Andrew Alleyne; Stijn De Bruyne

doi:10.1115/DETC2015-47463

A cooperative driving NLMPC for real time collision avoidance

Ugo Rosolia
, Francesco Braghin
, Edoardo Sabbioni
, Andrew Alleyne
, Stijn De Bruyne

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Scopus citations

Abstract

A decentralized cooperative driving Non Linear Model Predictive Control (NLMPC) approach for path following and collision avoidance is presented in this paper. The proposed decentralized approach is based on an information network, which communicates when two or more vehicles are near and so they might collide. In the case in which vehicles are far, online trajectory control is independently computed on-board by means of a NLMPC. When two or more vehicles get closer, trajectory control is no more independently carried out: optimal solution for these vehicles is coupled and thus their trajectories are computed dependently. Performance of the proposed decentralized NLMPC for cooperative driving was assessed through numerical simulations involving two vehicles. Results were compared with ones of a centralized approach to assess optimality of the solution.

Original language	English (US)
Title of host publication	17th International Conference on Advanced Vehicle Technologies; 12th International Conference on Design Education; 8th Frontiers in Biomedical Devices
Publisher	American Society of Mechanical Engineers (ASME)
ISBN (Electronic)	9780791857106
DOIs	https://doi.org/10.1115/DETC2015-47463
State	Published - 2015
Externally published	Yes
Event	ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 - Boston, United States Duration: Aug 2 2015 → Aug 5 2015

Publication series

Name	Proceedings of the ASME Design Engineering Technical Conference
Volume	3

Other

Other	ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
Country/Territory	United States
City	Boston
Period	8/2/15 → 8/5/15

Bibliographical note

Publisher Copyright:
© Copyright 2015 by ASME.

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Publisher link

10.1115/DETC2015-47463

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Rosolia, U., Braghin, F., Sabbioni, E., Alleyne, A., & De Bruyne, S. (2015). A cooperative driving NLMPC for real time collision avoidance. In 17th International Conference on Advanced Vehicle Technologies; 12th International Conference on Design Education; 8th Frontiers in Biomedical Devices (Proceedings of the ASME Design Engineering Technical Conference; Vol. 3). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC2015-47463

A cooperative driving NLMPC for real time collision avoidance. / Rosolia, Ugo; Braghin, Francesco; Sabbioni, Edoardo et al.
17th International Conference on Advanced Vehicle Technologies; 12th International Conference on Design Education; 8th Frontiers in Biomedical Devices. American Society of Mechanical Engineers (ASME), 2015. (Proceedings of the ASME Design Engineering Technical Conference; Vol. 3).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Rosolia, U, Braghin, F, Sabbioni, E, Alleyne, A & De Bruyne, S 2015, A cooperative driving NLMPC for real time collision avoidance. in 17th International Conference on Advanced Vehicle Technologies; 12th International Conference on Design Education; 8th Frontiers in Biomedical Devices. Proceedings of the ASME Design Engineering Technical Conference, vol. 3, American Society of Mechanical Engineers (ASME), ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015, Boston, United States, 8/2/15. https://doi.org/10.1115/DETC2015-47463

Rosolia U, Braghin F, Sabbioni E, Alleyne A, De Bruyne S. A cooperative driving NLMPC for real time collision avoidance. In 17th International Conference on Advanced Vehicle Technologies; 12th International Conference on Design Education; 8th Frontiers in Biomedical Devices. American Society of Mechanical Engineers (ASME). 2015. (Proceedings of the ASME Design Engineering Technical Conference). doi: 10.1115/DETC2015-47463

Rosolia, Ugo ; Braghin, Francesco ; Sabbioni, Edoardo et al. / A cooperative driving NLMPC for real time collision avoidance. 17th International Conference on Advanced Vehicle Technologies; 12th International Conference on Design Education; 8th Frontiers in Biomedical Devices. American Society of Mechanical Engineers (ASME), 2015. (Proceedings of the ASME Design Engineering Technical Conference).

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title = "A cooperative driving NLMPC for real time collision avoidance",

abstract = "A decentralized cooperative driving Non Linear Model Predictive Control (NLMPC) approach for path following and collision avoidance is presented in this paper. The proposed decentralized approach is based on an information network, which communicates when two or more vehicles are near and so they might collide. In the case in which vehicles are far, online trajectory control is independently computed on-board by means of a NLMPC. When two or more vehicles get closer, trajectory control is no more independently carried out: optimal solution for these vehicles is coupled and thus their trajectories are computed dependently. Performance of the proposed decentralized NLMPC for cooperative driving was assessed through numerical simulations involving two vehicles. Results were compared with ones of a centralized approach to assess optimality of the solution.",

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AB - A decentralized cooperative driving Non Linear Model Predictive Control (NLMPC) approach for path following and collision avoidance is presented in this paper. The proposed decentralized approach is based on an information network, which communicates when two or more vehicles are near and so they might collide. In the case in which vehicles are far, online trajectory control is independently computed on-board by means of a NLMPC. When two or more vehicles get closer, trajectory control is no more independently carried out: optimal solution for these vehicles is coupled and thus their trajectories are computed dependently. Performance of the proposed decentralized NLMPC for cooperative driving was assessed through numerical simulations involving two vehicles. Results were compared with ones of a centralized approach to assess optimality of the solution.

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A cooperative driving NLMPC for real time collision avoidance

Abstract

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Bibliographical note

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