Video Playlist 10. Optimal path planning for connected and automated vehicles in lane-free traffic

The videos included in this playlist are part of the results discussed in the paper titled "Optimal path planning for connected and automated vehicles in lane-free traffic". Camera is tracking a vehicle shown with the mouse pointer on a ring road of 1 km length. It is assumed that the ring road is unfolded for the simulation purpose. In each lap, it appears as if vehicles exit the road at 1 km and reenter the road at 0 km. All the vehicles start from zero speed and try reaching their desired speeds. All the simulations and generation of videos are performed on SUMO simulator along with custom build lane-free environment. The vehicles try to achieve a running desired speed at each planning horizon as described in the paper. Movement trajectories are obtained by solving an optimal control problem in a model predictive control framework. The objectives of the vehicles include safe and comfortable driving while trying to achieve the fixed desired speed.

Vehicle movement in 100 veh/km density

The vehicle being tracked by the camera has a fixed desired speed of around 28 m/s. The vehicle tries to achieve and maintain the desired speed while maneuvering over the complete lateral space. It can be observed that the vehicle movement is fairly smooth.

Vehicle movement in 100 veh/km density
Vehicle movement in 100 veh/km density

Vehicle movement in 200 veh/km density

The vehicle being tracked by the camera has a fixed desired speed of around 35 m/s. Due to high density and the requirement of safety time gaps, the vehicle is not able to reach its fixed desired speed and it could not maneuver over the complete lateral space. The vehicle reaches a "steady state" velocity of around 25 m/s in a fairly smooth manner.

Vehicle movement in 200 veh/km density
Vehicle movement in 200 veh/km density