Model Predictive Control of Autonomous Vehicles Using Sequence Convex Programming

Haoyue Wang; Zhongqi Sun; Yunshan Deng; Yuanqing Xia

doi:10.1109/YAC57282.2022.10023886

Model Predictive Control of Autonomous Vehicles Using Sequence Convex Programming

Haoyue Wang^*, Zhongqi Sun, Yunshan Deng, Yuanqing Xia

^*此作品的通讯作者

自动化学院

Beijing Institute of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

2 引用（Scopus）

摘要

A planner for autonomous vehicles is presented in this paper. The purpose of this algorithm is to plan a collision-avoidance trajectory with cheap computation. We consider model predictive control (MPC) of the vehicle in the presence of obstacles, in which the optimization usually admits nonlinear programming. By introducing sequential programming (SCP), the nominal trajectory dependent by convexification is updated in time, then the non-convex optimization problem is approximately solved. The approach is validated through simulation compared with regular nonlinear MPC formulation solved by numeric solver.

源语言	英语
主期刊名	Proceedings - 2022 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022
出版商	Institute of Electrical and Electronics Engineers Inc.
页	925-929
页数	5
ISBN（电子版）	9781665465366
DOI	https://doi.org/10.1109/YAC57282.2022.10023886
出版状态	已出版 - 2022
活动	37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022 - Beijing, 中国期限: 19 11月 2022 → 20 11月 2022

出版系列

姓名	Proceedings - 2022 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022

会议

会议	37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022
国家/地区	中国
市	Beijing
时期	19/11/22 → 20/11/22

访问文件

10.1109/YAC57282.2022.10023886

其它文件与链接

链接到 Scopus 的出版物

引用此

Wang, H., Sun, Z., Deng, Y., & Xia, Y. (2022). Model Predictive Control of Autonomous Vehicles Using Sequence Convex Programming. 在 Proceedings - 2022 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022 (页码 925-929). (Proceedings - 2022 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/YAC57282.2022.10023886

Wang, Haoyue ; Sun, Zhongqi ; Deng, Yunshan 等. / Model Predictive Control of Autonomous Vehicles Using Sequence Convex Programming. Proceedings - 2022 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022. Institute of Electrical and Electronics Engineers Inc., 2022. 页码 925-929 (Proceedings - 2022 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022).

@inproceedings{b094000fe6f448589bb4d619470a2d50,

title = "Model Predictive Control of Autonomous Vehicles Using Sequence Convex Programming",

abstract = "A planner for autonomous vehicles is presented in this paper. The purpose of this algorithm is to plan a collision-avoidance trajectory with cheap computation. We consider model predictive control (MPC) of the vehicle in the presence of obstacles, in which the optimization usually admits nonlinear programming. By introducing sequential programming (SCP), the nominal trajectory dependent by convexification is updated in time, then the non-convex optimization problem is approximately solved. The approach is validated through simulation compared with regular nonlinear MPC formulation solved by numeric solver.",

keywords = "autonomous vehicles, mode1 predictive control, sequential convex planning, trajectory planning",

author = "Haoyue Wang and Zhongqi Sun and Yunshan Deng and Yuanqing Xia",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022 ; Conference date: 19-11-2022 Through 20-11-2022",

year = "2022",

doi = "10.1109/YAC57282.2022.10023886",

language = "English",

series = "Proceedings - 2022 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "925--929",

booktitle = "Proceedings - 2022 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022",

address = "United States",

}

Wang, H, Sun, Z, Deng, Y & Xia, Y 2022, Model Predictive Control of Autonomous Vehicles Using Sequence Convex Programming. 在 Proceedings - 2022 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022. Proceedings - 2022 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022, Institute of Electrical and Electronics Engineers Inc., 页码 925-929, 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022, Beijing, 中国, 19/11/22. https://doi.org/10.1109/YAC57282.2022.10023886

Model Predictive Control of Autonomous Vehicles Using Sequence Convex Programming. / Wang, Haoyue; Sun, Zhongqi; Deng, Yunshan 等.
Proceedings - 2022 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022. Institute of Electrical and Electronics Engineers Inc., 2022. 页码 925-929 (Proceedings - 2022 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Model Predictive Control of Autonomous Vehicles Using Sequence Convex Programming

AU - Wang, Haoyue

AU - Sun, Zhongqi

AU - Deng, Yunshan

AU - Xia, Yuanqing

PY - 2022

Y1 - 2022

N2 - A planner for autonomous vehicles is presented in this paper. The purpose of this algorithm is to plan a collision-avoidance trajectory with cheap computation. We consider model predictive control (MPC) of the vehicle in the presence of obstacles, in which the optimization usually admits nonlinear programming. By introducing sequential programming (SCP), the nominal trajectory dependent by convexification is updated in time, then the non-convex optimization problem is approximately solved. The approach is validated through simulation compared with regular nonlinear MPC formulation solved by numeric solver.

AB - A planner for autonomous vehicles is presented in this paper. The purpose of this algorithm is to plan a collision-avoidance trajectory with cheap computation. We consider model predictive control (MPC) of the vehicle in the presence of obstacles, in which the optimization usually admits nonlinear programming. By introducing sequential programming (SCP), the nominal trajectory dependent by convexification is updated in time, then the non-convex optimization problem is approximately solved. The approach is validated through simulation compared with regular nonlinear MPC formulation solved by numeric solver.

KW - autonomous vehicles

KW - mode1 predictive control

KW - sequential convex planning

KW - trajectory planning

UR - http://www.scopus.com/inward/record.url?scp=85147947295&partnerID=8YFLogxK

U2 - 10.1109/YAC57282.2022.10023886

DO - 10.1109/YAC57282.2022.10023886

M3 - Conference contribution

AN - SCOPUS:85147947295

T3 - Proceedings - 2022 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022

SP - 925

EP - 929

BT - Proceedings - 2022 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022

Y2 - 19 November 2022 through 20 November 2022

ER -

Wang H, Sun Z, Deng Y, Xia Y. Model Predictive Control of Autonomous Vehicles Using Sequence Convex Programming. 在 Proceedings - 2022 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022. Institute of Electrical and Electronics Engineers Inc. 2022. 页码 925-929. (Proceedings - 2022 37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022). doi: 10.1109/YAC57282.2022.10023886

Model Predictive Control of Autonomous Vehicles Using Sequence Convex Programming

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