Frenet-Cartesian model representations for automotive obstacle avoidance within nonlinear MPC

DOI10.1016/J.EJCON.2023.100847MaRDI QIDQ6092454zbMATH OpenOpenAlexFDO

Authors Rudolf Reiter, Armin Nurkanović, Jonathan Frey, Moritz Diehl

Publication date 23 November 2023

Published in European Journal of Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2212.13115

zbMATH Keywords

automotive controlcurvilinear coordinate frameFrenet transformationmotion planningobstacle avoidance

Mathematics Subject Classification ID

Model predictive control (93B45) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85)

Abstract: In recent years, nonlinear model predictive control (NMPC) has been extensively used for solving automotive motion control and planning tasks. In order to formulate the NMPC problem, different coordinate systems can be used with different advantages. We propose and compare formulations for the NMPC related optimization problem, involving a Cartesian and a Frenet coordinate frame (CCF/ FCF) in a single nonlinear program (NLP). We specify costs and collision avoidance constraints in the more advantageous coordinate frame, derive appropriate formulations and compare different obstacle constraints. With this approach, we exploit the simpler formulation of opponent vehicle constraints in the CCF, as well as road aligned costs and constraints related to the FCF. Comparisons to other approaches in a simulation framework highlight the advantages of the proposed approaches.

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Cites work

• Optimization-based autonomous racing of 1:43 scale RC cars
• The lifted Newton method and its application in optimization

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