Research Article
Optimal Control Based Trajectory Planning Under Uncertainty
@INPROCEEDINGS{10.1007/978-3-031-30855-0_5, author={Shangyuan Zhang and Makhlouf Hadji and Abdel Lisser}, title={Optimal Control Based Trajectory Planning Under Uncertainty}, proceedings={Intelligent Transport Systems. 6th EAI International Conference, INTSYS 2022, Lisbon, Portugal, December 15-16, 2022, Proceedings}, proceedings_a={INTSYS}, year={2023}, month={4}, keywords={Autonomous vehicle Trajectory planning Stochastic optimization Optimal control Chance constraint}, doi={10.1007/978-3-031-30855-0_5} }- Shangyuan Zhang
Makhlouf Hadji
Abdel Lisser
Year: 2023
Optimal Control Based Trajectory Planning Under Uncertainty
INTSYS
Springer
DOI: 10.1007/978-3-031-30855-0_5
Abstract
In this paper, we propose a constrained optimal control approach as a reference trajectory generator for a driving scenario with uncertainty. With a given scenario, this generator can produce a reference trajectory in order to make validations for autonomous vehicle’s decision-making problems. The constrained optimal control problem guarantees obtaining a collision-free trajectory with safety and comfort based on the design of the objective function and the constraints of the vehicle. The uncertainty of environmental information provided by sensors is taken into account, and a stochastic optimization problem is proposed to limit the risk of violating safety requirements. Numerical experiments show that the stochastic model can better ensure the robustness of the obtained solutions.
