卡西姆
避碰
控制理论(社会学)
控制器(灌溉)
车辆动力学
避障
电子稳定控制
汽车工程
模型预测控制
差速器(机械装置)
计算机科学
偏航
障碍物
控制工程
碰撞
工程类
控制(管理)
计算机安全
航空航天工程
移动机器人
机器人
人工智能
法学
政治学
生物
农学
作者
Reza Hajiloo,Mehdi Abroshan,Amir Khajepour,Alireza Kasaiezadeh,Shih-Ken Chen
出处
期刊:IEEE Transactions on Intelligent Transportation Systems
[Institute of Electrical and Electronics Engineers]
日期:2021-05-01
卷期号:22 (5): 3167-3178
被引量:43
标识
DOI:10.1109/tits.2020.2984210
摘要
Controlling the lateral dynamics of an autonomous vehicle confronting a sudden obstacle requires optimal use of tires' force capacities. In these situations, autonomous steering may not be able to respond fast enough to prevent collision or instability. This paper presents an integrated controller for autonomous vehicles, capable of suitably reacting to emergency situations when a sudden obstacle appears on the road. The proposed controller employs differential braking conservatively when needed, to produce an additional yaw moment, thereby improving a vehicle's lateral agility and responsiveness without endangering vehicle stability. A longitudinal controller is also designed to track a desired longitudinal velocity. Model predictive control (MPC) method is used for developing a combined path planning and tracking controller with a hierarchical structure that prioritizes (1) collision avoidance, (2) vehicle stability, and (3) path tracking. The effectiveness of the proposed integrated MPC controller is evaluated by simulating an experimentally validated CarSim model to demonstrate the controller's capability in preventing instability and collisions.
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