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Document type:
Konferenzbeitrag 
Author(s):
Esterle, Klemens; Kessler, Tobias; Knoll, Alois 
Title:
Optimal Behavior Planning for Autonomous Driving: A Generic Mixed-Integer Formulation 
Abstract:
Mixed-Integer Quadratic Programming (MIQP) has been identified as a suitable approach for finding an optimal solution to the behavior planning problem with low runtimes. Logical constraints and continuous equations are optimized alongside. However, it has only been formulated for a straight road, omitting common situations such as taking turns at intersections. This has prevented the model from being used in reality so far. Based on a triple integrator model formulation, we compute the o...    »
 
Book / Congress title:
2020 IEEE Intelligent Vehicles Symposium (IV) 
Year:
2020