This paper develops a path planning algorithm for Connected and Automated Vehicles (CAVs) driving on a lane-free highway, according to a recently proposed novel paradigm for vehicular traffic in the era of CAVs. The approach considers a simple model of vehicle kinematics, along with appropriate constraints for control variables and road boundaries. Appropriate, partly competitive sub-objectives are designed to enable efficient vehicle advancement, while avoiding collisions with other vehicles and infeasible vehicle maneuvers. Based on these elements, a nonlinear Optimal Control Problem (OCP) is formulated for each ego vehicle, and a Feasible Direction Algorithm (FDA) is employed for its computationally efficient numerical solution. The OCP is solved repeatedly for short time horizons within a Model Predictive Control (MPC) framework, while the vehicle advances. It is demonstrated via traffic simulation, involving many such vehicles, on a lane-free ring-road that the proposed approach delivers promising results and can be considered as a candidate for use in further developments related to lane-free CAV traffic.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Optimal Path Planning for Connected and Automated Vehicles in Lane-free Traffic




    Erscheinungsdatum :

    19.09.2021


    Format / Umfang :

    762177 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Optimal Trajectory Planning for Connected and Automated Vehicles in Lane-Free Traffic With Vehicle Nudging

    Yanumula, Venkata Karteek / Typaldos, Panagiotis / Troullinos, Dimitrios et al. | IEEE | 2023


    Joint Path Planning for Multiple Automated Vehicles in Lane-Free Traffic With Vehicle Nudging

    Dabestani, Niloufar / Typaldos, Panagiotis / Yanumula, Venkata Karteek et al. | IEEE | 2024


    NEAR-OPTIMAL ONLINE MOTION PLANNING OF CONNECTED AND AUTOMATED VEHICLES AT A SIGNAL-FREE AND LANE-FREE INTERSECTION

    Li, Bai / Zhang, Youmin / Zhang, Yue et al. | British Library Conference Proceedings | 2018



    Lane- Free Microscopic Simulation for Connected and Automated Vehicles

    Troullinos, Dimitrios / Chalkiadakis, Georgios / Manolis, Diamantis et al. | IEEE | 2021