MPC Based Vehicular Trajectory Planning in Structured Environment
In this paper, the hierarchical architecture of trajectory planning and control is set up for safe driving with multiple participants without collision, where both levels utilize a time-varying model predictive control methodology. Firstly, a high-level planner formulates an optimal control problem...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2021-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9328410/ |