Interaction-Aware Vehicle Motion Planning with Collision Avoidance Constraints in Highway Traffic
<|reference_start|>Interaction-Aware Vehicle Motion Planning with Collision Avoidance Constraints in Highway Traffic: This paper proposes collision-free optimal trajectory planning for autonomous vehicles in highway traffic, where vehicles need to deal with the interaction among each other. To address this issue, a novel optimal control framework is suggested, which couples the trajectory of surrounding vehicles with collision avoidance constraints. Additionally, we describe a trajectory optimization technique under state constraints, utilizing a planner based on Pontryagin's Minimum Principle, capable of numerically solving collision avoidance scenarios with surrounding vehicles. Simulation results demonstrate the effectiveness of the proposed approach regarding interaction-based motion planning for different scenarios.<|reference_end|>
@article{kim2024interaction-aware,
    title={Interaction-Aware Vehicle Motion Planning with Collision Avoidance
  Constraints in Highway Traffic},
    author={Dongryul Kim, Hyeonjeong Kim and Kyoungseok Han},
    journal={arXiv preprint arXiv:2404.01661},
    year={2024},
    archivePrefix={arXiv},
    eprint={2404.01661},
    primaryClass={cs.RO cs.SY eess.SY}
}