Autonomous driving motion planning with obstacles prioritization using lexicographic optimization

作者：Rasekhipour Yadollah^*; Fadakar Iman; Khajepour Amir

来源：Control Engineering Practice, 2018, 77: 235-246.

DOI：10.1016/j.conengprac.2018.04.014

• Motion planning
• Autonomous vehicles
• Obstacle avoidance
• Model predictive control
• Lexicographic optimization
• Vehicle dynamics and control

There are driving situations that avoiding all obstacles is infeasible. In such situations, an autonomous vehicle should avoid vulnerable obstacles like pedestrians. In this paper, a motion planning method is presented that avoids obstacles according to their priority orders. The method utilizes a model predictive controller with obstacle constraints and applies lexicographic optimization to the controller to prioritize the constraints, and subsequently, prioritize the obstacles. The proposed method is simulated on a high fidelity CarSim vehicle model. The results show that when avoiding all obstacles is not feasible, the proposed method avoids the obstacles with the highest priority orders.

• 出版日期2018-8