MPC-Based Routing and Tracking Architecture for Safe Autonomous Driving in Urban Traffic
Mostafa Emam,
Matthias Gerdts
Abstract:This paper presents a configurable routing and tracking architecture that uses multi-objective Model Predictive Control (MPC) as its driving algorithm to guarantee safe autonomous driving of different vehicle types. The architecture consists of three main components and primarily relies on labeled map data to generate optimal path and velocity trajectories in accordance with the vehicle type and the desired control objectives. We begin with introducing the overall system architecture and its different inputs, … Show more
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