An optimal path generator using a receding horizon control scheme for intelligent automobiles

It is expected that more and more information are brought into automobiles through various sensing and communication devices. To make such information useful for effective driving assistance, it must be appropriately transformed into intuitively understandable symbols, because human recognition ability is limited. A real-time algorithm for calculating the desirable longitudinal and lateral maneuvers (optimal path for a driver to track) from surrounding information is developed based on a receding horizon control framework. Simulation results show that the proposed algorithm generates reasonable maneuvers.