TRAJECTORY PLANNING ALGORITHM USING GAUSS PSEUDOSPECTRAL METHOD BASED ON VEHICLE-INFRASTRUCTURE COOPERATIVE SYSTEM

다국어 초록 (Multilingual Abstract)

Vehicle-infrastructure cooperative systems can potentially enhance both traffic safety and efficiency by conducting coordinated control through the interactive strategy between the vehicles and the infrastructure. In this study, the interactive strategy of a vehicle infrastructure cooperative system is designed. Lane change maneuver is a conventional behavior in driving. Thus, this paper proposes a trajectory planning algorithm based on a Gauss pseudo-spectral method that is applied to the intelligent vehicle-infrastructure cooperative system in the lane change scenario. A road side unit calculates the planning trajectory using collected vehicle information and sensor data and then sends the trajectory planning advice to the designated vehicle. The Gauss pseudo-spectral method is used to obtain the planning trajectory, which effectively helps solve the discontinuous optimization problems in partial conditions. It transforms the optimal control problem of dynamic systems into a nonlinear programming problem using the orthogonal collocation method to discretize the objective function and various constraints of the optimization problem. Furthermore, the ssuential quadratic programming method is used to solve the problem numerically. The effectiveness of the proposed method and interactive strategy are demonstrated through simulations and experimental results.

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