Abstract
In autonomous driving, there is a relationship between path planning and motion control. The former should be based on the feasibility of vehicle motion, and the latter requires real-time calculation including path planning. Therefore, simultaneous optimization of path planning and control, called SPPMC (Simultaneous Path Planning and Motion Control), is important. In driving in the real traffic environment, decision making has also strong interaction with plannnig and control. In our research, we realized and simulated Decison making and SPPMC for lane-change with speed / steering angle control by nonlinear MPC (Model Predictive Control).
