Journal
INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY
Volume 23, Issue 5, Pages 1239-1253Publisher
KOREAN SOC AUTOMOTIVE ENGINEERS-KSAE
DOI: 10.1007/s12239-022-0109-8
Keywords
Autonomous vehicles; Model predictive control; Obstacle avoidance; Local path planning; Path tracking
Funding
- National Natural Science Foundation of China [51207012]
- Natural Science Foundation of Shaanxi Province [2021JM-163]
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A new obstacle avoidance path planner was designed to address the limitations of traditional methods in excessive obstacle avoidance. A comprehensive evaluation index was established to improve the control accuracy and driving stability of the path tracking controller. Simulation results showed improved driving stability and accurate tracking of local obstacle avoidance paths.
According to the position relationship between the vehicle and the obstacle, a new obstacle avoidance path planner was designed to solve the limitation of traditional local obstacle avoidance path planner in excessive obstacle avoidance. In order to improve the control accuracy of the path tracking controller and ensure the stability of the vehicle, a comprehensive evaluation index of path tracking performance considering control accuracy and driving stability was established. The optimal prediction time domain and control time domain parameters at different vehicle speeds were obtained, and an adaptive dual time domain parameter path tracking controller was designed. Based on the joint-simulation platform, the integrated structure of the planning layer and the control layer was simulated and verified. Simulation results show that the new obstacle avoidance function can avoid excessive obstacle avoidance while ensuring real-time performance, and improve the driving stability of the vehicle. The adaptive time-domain parameter path tracking controller has better comprehensive control performance and can improve driving safety under extreme conditions. The integrated structure of local obstacle avoidance path planning and path tracking control are beneficial for the vehicle to plan and accurately track the local obstacle avoidance path in multiple static obstacle scenes.
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