计算机科学
路径(计算)
车辆动力学
跟踪(教育)
控制理论(社会学)
实时计算
避障
跟踪系统
作者
Jie Ji,Amir Khajepour,Wael William Melek,Yanjun Huang
出处
期刊:IEEE Transactions on Vehicular Technology
[Institute of Electrical and Electronics Engineers]
日期:2017-02-01
卷期号:66 (2): 952-964
被引量:360
标识
DOI:10.1109/tvt.2016.2555853
摘要
A path planning and tracking framework is presented to maintain a collision-free path for autonomous vehicles. For path-planning approaches, a 3-D virtual dangerous potential field is constructed as a superposition of trigonometric functions of the road and the exponential function of obstacles, which can generate a desired trajectory for collision avoidance when a vehicle collision with obstacles is likely to happen. Next, to track the planned trajectory for collision avoidance maneuvers, the path-tracking controller formulated the tracking task as a multiconstrained model predictive control (MMPC) problem and calculated the front steering angle to prevent the vehicle from colliding with a moving obstacle vehicle. Simulink and CarSim simulations are conducted in the case where moving obstacles exist. The simulation results show that the proposed path-planning approach is effective for many driving scenarios, and the MMPC-based path-tracking controller provides dynamic tracking performance and maintains good maneuverability.
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