Mixed local motion planning and tracking control framework for autonomous vehicles based on model predictive control
Mixed local motion planning and tracking control framework for autonomous vehicles based on model predictive control
- New search for: Yuan, Kang
- New search for: Shu, Hong
- New search for: Huang, Yanjun
- New search for: Zhang, Yubiao
- New search for: Khajepour, Amir
- New search for: Zhang, Lin
- New search for: Yuan, Kang
- New search for: Shu, Hong
- New search for: Huang, Yanjun
- New search for: Zhang, Yubiao
- New search for: Khajepour, Amir
- New search for: Zhang, Lin
This study proposes a novel mixed motion planning and tracking (MPT) control framework for autonomous vehicles (AVs) based on model predictive control (MPC), which is made up of an MPC‐based longitudinal motion planning module, a feed‐forward longitudinal motion tracking module, and an MPC‐based integrated lateral motion planning and tracking module. First, given the global reference path and the surroundings information obtained from onboard devices and V2X network, the longitudinal motion planning based on a vehicle kinematics model is applied to determine the local target path, the desired longitudinal acceleration, and velocity considering the longitudinal safety priority. Then, based on the planned target path and longitudinal velocity, the integrated lateral MPT module based on a 2 degree‐of‐freedom vehicle model is developed to determine the optimal steering angle while satisfying the multiple kinematics and dynamics constraints. Finally, based on the desired longitudinal acceleration and the steering angle, the longitudinal forces of tires are determined. More importantly, co‐simulations under several typical scenarios between MATLAB/Simulink and CarSim are conducted, and the results demonstrate excellent performance of the proposed mixed framework in both planning and tracking and also its real‐time implementation.
Document information
Mixed local motion planning and tracking control framework for autonomous vehicles based on model predictive control
IET Intelligent Transport Systems ; 13 , 6 ; 950-959
2019-06-01
10 pages
Article (Journal)
Electronic Resource
English
longitudinal acceleration , feed‐forward longitudinal motion tracking module , lateral motion planning , longitudinal safety priority , road safety , predictive control , vehicle kinematics model , control system synthesis , autonomous vehicles , local target path , planned target path , vehicle dynamics , model predictive control , road vehicles , motion control , longitudinal velocity , 2 degree‐of‐freedom vehicle model , tyres , steering systems , tracking control framework , mixed motion planning , path planning , MPC‐based longitudinal motion planning module , global reference path , integrated lateral MPT module
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