# lane-change-optimization

**Repository Path**: juzi_f8/lane-change-optimization

## Basic Information

- **Project Name**: lane-change-optimization
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2020-07-23
- **Last Updated**: 2020-12-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Lane Change Optimization
A Non-Linear Programing Optimization formulation to optimize the control of an autonomous vehicle lane change.

## Optimization Formulation
Optimize the vehicle controls for a lane change that maximizes *ride quality* while satisfying the following conditions:
* Performs the lane change in a specified distance and maximum amount of time
* Remains within the limits of the road
* Specified start/end speed
* Start and end at steady state velocity & yaw rate and aligned with the road

## Limitations
* Straight road (no curvature)
* No other vehicles in the scene
* Simple linear bicycle model 

## Dependecies
* [IPOPT](https://projects.coin-or.org/Ipopt)
* [ADOL-C](https://projects.coin-or.org/ADOL-C)
* [Eigen](https://eigen.tuxfamily.org/)