Deterministic Operating Strategy for Multi-objective NMPC for Safe Autonomous Driving in Urban Traffic

Mostafa Emam, Matthias Gerdts

2022

Abstract

In this paper, we introduce a deterministic operating methodology based on finite-state automata to employ multi-objective Nonlinear Model Predictive Control (NMPC) in autonomous driving applications. We begin with discussing the system’s dynamical behavior and the proposed constraints to guarantee safe driving. Then, we examine a typical urban scenario and dissect it into a set of interacting sequences, so that we develop and fine-tune separate MPC-based controllers for each of these sequences. Finally, we introduce a Finite-State Machine (FSM) that analyzes the current driving situation and accordingly selects the appropriate controller to compute the optimal control action. This approach is numerically simulated and tested with the software OCPID-DAE1 and results show its success in accordance with multi-objective NMPC.

Paper Citation

in Harvard Style

Emam M. and Gerdts M. (2022). Deterministic Operating Strategy for Multi-objective NMPC for Safe Autonomous Driving in Urban Traffic. In Proceedings of the 8th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS, ISBN 978-989-758-573-9, pages 152-161. DOI: 10.5220/0011115400003191

in Bibtex Style

@conference{vehits22,
author={Mostafa Emam and Matthias Gerdts},
title={Deterministic Operating Strategy for Multi-objective NMPC for Safe Autonomous Driving in Urban Traffic},
booktitle={Proceedings of the 8th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,},
year={2022},
pages={152-161},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011115400003191},
isbn={978-989-758-573-9},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 8th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,
TI - Deterministic Operating Strategy for Multi-objective NMPC for Safe Autonomous Driving in Urban Traffic
SN - 978-989-758-573-9
AU - Emam M.
AU - Gerdts M.
PY - 2022
SP - 152
EP - 161
DO - 10.5220/0011115400003191