Notice of Violation of IEEE Publication Principles: Sequential Convex Programming for Collaboration of Connected and Automated Vehicles

Abstract

Notice of Violation of IEEE Publication Principles<BR><BR>"Sequential Convex Programming for Collaboration of Connected and Automated Vehicles," <BR>by Xiaoxue Zhang, Jun Ma, Zilong Cheng, Frank L. Lewis, and Tong Heng Lee, <BR>in IEEE Transactions on Intelligent Vehicles, Early Access <BR><BR>After careful and considered review of the content and authorship of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE’s Publication Principles. <BR><BR>This paper contains significant portions of original text from the paper cited below. The original text was copied without attribution (including appropriate references to the original author(s) and/or paper title) and without permission. <BR><BR>"Networked Model Predictive Control for Vehicle Collision Avoidance" <BR> by Bassam Alrifaee, <BR>in RWTH Aachen University, Dissertation, 04 May 2017 <BR>BR>"Sequential convex programming MPC for dynamic vehicle collision avoidance" <BR>by Bassam Alrifaee, Janis Maczijewski, Dirk Abel, <BR>in the Proceedings of the IEEE Conference on Control Technology and Applications, 2017, pp. 2202-2207 <BR><BR> <br/> This paper investigates the collaboration of multiple connected and automated vehicles (CAVs) in different scenarios. In general, the collaboration of CAVs can be formulated as a nonlinear and nonconvex MPC problem. Most of the existing approaches available for utilization to solve such an optimization problem suffer from the drawback of considerable computational burden, which hinders the practical implementation in real time. This paper proposes the use of SCP, which is a powerful approach to solving the nonlinear and nonconvex MPC problem in real time. To appropriately deploy the methodology, as a first stage, SCP requires linearization and discretization when addressing the nonlinear dynamics of the system model adequately. Based on the linearization and discretization, the original MPC problem can be transformed into a QCQP problem. Besides, SCP also involves convexification to handle the associated nonconvex constraints. Thus, the nonconvex QCQP can be reduced to a quadratic programming (QP) problem that can be solved rather quickly. Therefore, the computational efficiency is suitably improved despite the existence of nonlinear and nonconvex characteristics, whereby the implementation is realized in real time. Furthermore, simulation results in three different scenarios of autonomous driving are presented to validate the effectiveness and efficiency of our proposed approach.