Proactive Longitudinal Motion Planning for Improving Safety of Automated Bus using Chance-constrained MPC with V2V Communication

Ara Jo; Michael Jinsoo Yoo; Jisub Kwak; Woojin Kwon; Kyongsu Yi

doi:10.22680/kasa2023.15.4.016

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2023 Vol.15, Issue 4 Preview Page Next Page

Proactive Longitudinal Motion Planning for Improving Safety of Automated Bus using Chance-constrained MPC with V2V Communication 자율주행 버스의 주행 안전을 위한 차량 간 통신 및 모델 예측 제어 기반 종 방향 거동 계획

31 December 2023. pp. 16-22

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Abstract

This paper presents a proactive longitudinal motion planning algorithm for improving the safety of an automated bus. Since the field of view (FOV) of the autonomous vehicle was limited depending on onboard sensors’ performance and surrounding environments, it was necessary to implement vehicle-to-vehicle (V2V) communication for overcoming the limitation. After a virtual V2V-equipped target was constructed considering information obtained from V2V communication, the reference motion of the ego vehicle was determined by considering the state of both the V2V-equipped target and the sensor-detected target. Model predictive control (MPC) was implemented to calculate the optimal motion considering the reference motion and the chance constraint, which was deduced from manual driving data. The improvement in driving safety was confirmed through vehicle tests along actual urban roads.

Keywords

Longitudinal motion planning

Chance-constrained MPC

V2V communication

키워드

종 방향 거동 계획

기회 제약 모델 예측 제어기

차량 간 통신

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Information

Publisher :Korean Auto-vehicle Safety Association
Publisher(Ko) :한국자동차안전학회
Journal Title :Journal of Auto-vehicle Safety Association
Journal Title(Ko) :자동차안전학회지
Volume : 15
No :4
Pages :16-22
Received Date : 2022-11-07
Revised Date : 2023-09-14
Accepted Date : 2023-09-14
DOI :https://doi.org/10.22680/kasa2023.15.4.016

Journal of Auto-vehicle Safety Association ISSN:2005-9396(Print) 자동차안전학회지

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