避障
控制器(灌溉)
运动规划
卡西姆
跟踪(教育)
工程类
控制理论(社会学)
控制工程
运动控制
障碍物
计算机科学
车辆动力学
控制(管理)
人工智能
移动机器人
汽车工程
机器人
生物
法学
教育学
政治学
心理学
农学
作者
Xinglong Zhang,Wenxin Zhang,You Qun Zhao,Hai Wang,Lin Fen,Yingfeng Cai
出处
期刊:IEEE Transactions on Vehicular Technology
[Institute of Electrical and Electronics Engineers]
日期:2022-05-01
卷期号:71 (5): 4733-4747
被引量:4
标识
DOI:10.1109/tvt.2022.3152542
摘要
A personalized motion planning and tracking control framework is proposed to prevent collisions between autonomous vehicles and obstacles ahead. The presented framework consists of a motion planning generator and a cooperative tracking controller. For motion planning, a multi-constrained numerical optimization method is used to generate the obstacle avoidance motion planning for autonomous vehicles according to the individual needs of the passengers. For tracking control, a cooperative longitudinal and lateral motion controller is designed to track the planning results. The longitudinal controller is composed of a model predictive controller, and the lateral controller is composed of a nonlinear steering controller. The planning results show that the adopted motion planning algorithm can achieve personalized motion planning according to the needs of the passengers. Simulink and CarSim co-simulation results show the excellent tracking performance of the proposed cooperative controller. The performance analysis results show that the proposed framework can improve the corresponding driving performance according to the individual needs of the passengers.
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