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A Cooperative Driving NLMPC for Real Time Collision Avoidance

[+] Author Affiliations
Ugo Rosolia, Francesco Braghin, Edoardo Sabbioni

Politecnico di Milano, Milano, Italy

Andrew Alleyne

University of Illinois at Urbana-Champaign, Urbana, IL

Stijn De Bruyne

LMS Engineering, Leuven, Belgium

Paper No. DETC2015-47463, pp. V003T01A015; 9 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 3: 17th International Conference on Advanced Vehicle Technologies; 12th International Conference on Design Education; 8th Frontiers in Biomedical Devices
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5710-6
  • Copyright © 2015 by ASME


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.

Copyright © 2015 by ASME



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