Cooperative Multiple Vehicle Trajectory Planning using MIQP

This paper considers the problem of cooperative trajectory planning for multiple, communicating, automated vehicles in general non-hazardous on-road scenarios. Cooperative behavior is introduced by optimizing a collective cost function for all automated vehicles. A novel approach based a Mixed-Integer Quadratic Programming is presented that guarantees to yield the globally optimal solution. Numerical experiments are provided to demonstrate the feasibility of our approach and the benefits compared to priority-based approaches and non-cooperative individual motion planning.