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COOPERATIVE DRIVING AND COLLISION AVOIDANCE BY DISTRIBUTED RECEDING HORIZON CONTROL

  • US 20130325306A1
  • Filed: 06/01/2012
  • Published: 12/05/2013
  • Est. Priority Date: 06/01/2012
  • Status: Active Grant
First Claim
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1. A controller for a first coordinating vehicle, the controller comprising:

  • a communication terminal configured to receive trajectory messages from a plurality of second coordinating vehicles in a communication range, the trajectory messages including vehicle trajectory information for a predetermined update interval; and

    a computer processor configured to execute instructions stored on a non-transitory memory, the instructions includingcalculating an assumed trajectory for the first coordinating vehicle by solving an optimal control problem,detecting a conflict based on the received trajectory information and the calculated assumed trajectory, andwhen a conflict is detected, adjusting terminal state constraints in the optimal control problem and calculating, with the adjusted constraints in the optimal control problem, an optimized trajectory for the first coordinating vehicle such that the detected conflict is resolved.

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