MANOEUVER GENERATION FOR AUTOMATED DRIVING

A method and arrangement are described for manoeuvre generation for automated driving on a one-way road of a vehicle (e) hosting the arrangement, the host vehicle (e) further including one or more advanced driver assistance systems. A collision free reference trajectory for longitudinal and lateral movement of the host vehicle (e) is determined repeatedly, with a fix time interval, for allowing the host vehicle (e) to retain a desired velocity and maintain the host vehicle (e) in a preferred lane utilizing model predictive control and quadratic program formulation. A control scheme where the structured environment of the one-way road is exploited in order to linearly formulate collision avoidance constraints is utilized. Manoeuvre generation is performed through solving the quadratic program. The one or more advanced driver assistance systems are controlled to perform the generated manoeuvre.