A model predictive combined planning and control approach for guidance of automated vehicles

A novel approach for combined trajectory planning and control is presented in this contribution. The developed method integrates optimal control theory and trajectory planning and leads to an active safety system, which is applicable for automated driving and can avoid collisions in critical situations. The Combined Planning and Control (CPC) algorithm extends the Timed Elastic Band (TEB) approach by a suitable vehicle dynamics model, which facilitates stable vehicle guidance. The problem of trajectory generation is reformulated such that a nonlinear model predictive control (NMPC) method can be applied. The analysis of different traffic scenarios shows the functionality of the developed concept.