J. Eilbrecht and O. Stursberg, “Cooperative Driving Using a Hierarchy of Mixed-Integer Programming and Tracking Control,” in 2017 IEEE Intelligent Vehicles Symposium (IV), Institute of Electrical and Electronics Engineers, Ed. Piscataway, NJ: IEEE, 2017, pp. 673–678.



This paper aims at cooperatively resolving conflicts arising between several fully-autonomous, communicating vehicles in general on-road traffic scenarios. A hierarchical control scheme with two main units is proposed: A short-term planning unit determines obstacle-avoiding reference trajectories in a receding-horizon-fashion, based on solving mixed-integer quadratic programs (MIQP) for simplified vehicle dynamics. A novel cooperative conflict resolution scheme is proposed which orchestrates the plans of neighboring vehicles, trying to minimize a common cost function. Tracking controllers based on model predictive control (MPC) are then employed to track the references using a nonlinear vehicle model. The functionality of the proposed method is demonstrated in a simulation example.



 AUTHOR={J. Eilbrecht and O. Stursberg},
 TITLE={{Cooperative Driving Using a Hierarchy of Mixed-Integer Programming and Tracking Control}},
 BOOKTITLE={Proc. IEEE Intelligent Vehicles Symposium},
 COMMENT={noch nicht gemeldet, ISBN: ?, ? Normseiten}}