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Authors: Mostafa Emam and Matthias Gerdts

Affiliation: Department of Aerospace Engineering, Institute of Mathematics and Applied Computing, Universität der Bundeswehr München, 85579, Neubiberg, Germany

Keyword(s): Autonomous Driving, Multi-objective NMPC, Path Tracking, Finite-State Machine.

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.

CC BY-NC-ND 4.0

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Paper citation in several formats:
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 - VEHITS; ISBN 978-989-758-573-9; ISSN 2184-495X, SciTePress, pages 152-161. DOI: 10.5220/0011115400003191

@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 - VEHITS},
year={2022},
pages={152-161},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011115400003191},
isbn={978-989-758-573-9},
issn={2184-495X},
}

TY - CONF

JO - Proceedings of the 8th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS
TI - Deterministic Operating Strategy for Multi-objective NMPC for Safe Autonomous Driving in Urban Traffic
SN - 978-989-758-573-9
IS - 2184-495X
AU - Emam, M.
AU - Gerdts, M.
PY - 2022
SP - 152
EP - 161
DO - 10.5220/0011115400003191
PB - SciTePress