卡西姆
避碰
偏航
控制理论(社会学)
车辆动力学
加速度
打滑(空气动力学)
工程类
模型预测控制
运动规划
汽车工程
避障
碰撞
模拟
计算机科学
控制(管理)
航空航天工程
移动机器人
人工智能
物理
计算机安全
经典力学
机器人
作者
Hwang-Jae Lee,Seibum B. Choi
出处
期刊:IEEE Transactions on Intelligent Transportation Systems
[Institute of Electrical and Electronics Engineers]
日期:2022-10-01
卷期号:23 (10): 19544-19556
被引量:5
标识
DOI:10.1109/tits.2022.3168668
摘要
This paper presents an autonomous vehicle’s path planning and tracking system optimized for collision avoidance on slippery roads. During path planning, a path that can induce the maximum possible lateral acceleration is generated through the fifth-order spline in consideration of the tire-road friction. The generated path is tracked based on the model predictive control (MPC), and the nonlinearity generated by the tire and low friction surface is reflected through the extended bicycle model and the combined brushed tire model. Inside the controller, a new type of yaw rate constraint considering side-slip angles is utilized to prevent the vehicle from becoming unstable on slippery roads and maximize lateral maneuver of the vehicle at the same time. The proposed system is verified by the vehicle dynamics software CarSim, and the simulation results show that it significantly increases the possibility of collision avoidance in slippery road conditions.
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