Parallel Optimization with Hard Safety Constraints for Cooperative Planning of Connected Autonomous Vehicles
Zhenmin Huang,Haichao Liu,Shaojie Shen,Jun Ma,Zhenmin Huang,Haichao Liu,Shaojie Shen,Jun Ma
The development of connected autonomous vehicles (CAVs) facilitates the enhancement of traffic efficiency in complicated scenarios. Difficulties remain unsolved in developing an effective and efficient coordination strategy for CAVs. In this paper, we formulate the cooperative autonomous driving task of CAVs as an optimal control problem with safety conditions enforced as hard constraints, and pro...
