Automated cooperative collision avoidance of multiple vehicles is a promising approach to increase road safety in the future. This approach requires a real-time motion planner which computes cooperative maneuvers of multiple cognitive vehicles. As motion planning is a task of high computational complexity, computing times of the planner have to be traded off against solution quality. This contribution compares several cooperative motion planning algorithms with respect to these criteria. The considered algorithms are a tree search algorithm relying on precomputed lower bounds, the elastic band method, mixed-integer linear programming, and a priority-based approach. Success rates and computing times on various simulated scenarios are reported.


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    Title :

    A comparison of motion planning algorithms for cooperative collision avoidance of multiple cognitive automobiles


    Contributors:
    Frese, C. (author) / Beyerer, J. (author)


    Publication date :

    2011-06-01


    Size :

    293213 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    A Comparison of Motion Planning Algorithms for Cooperative Collision Avoidance of Multiple Cognitive Automobiles

    Frese, C. / Beyerer, J. / Institute of Electrical and Electronics Engineers | British Library Conference Proceedings | 2011



    Planning cooperative motions of cognitive automobiles using tree search algorithms

    Frese, C. / Beyerer, J. | Fraunhofer Publica | 2010

    Free access

    Collision Avoidance System for Automobiles

    Düll, Ernst Hermann / Peters, Hans Joachim | SAE Technical Papers | 1978


    Collision Avoidance System for Automobiles

    Duell,E.H. / Peters,H.J. / Bosch et al. | Automotive engineering | 1978