期刊
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING
卷 223, 期 D12, 页码 1499-1516出版社
SAGE PUBLICATIONS LTD
DOI: 10.1243/09544070JAUTO1149
关键词
autonomous vehicles; obstacle avoidance; non-linear model predictive control (NMPC)
资金
- Basic Science Research Program for Engineering Research Centre (ERC), through the National Research Foundation (NRF) of Korea, funded by the Ministry of Education, Science and Technology
- Institute of Advanced Aerospace Technology at Seoul National University, Republic of Korea
This paper presents an obstacle avoidance scheme for autonomous vehicles as all active safety procedure in unknown environments. Safe trajectories are generated using the non-linear model predictive framework, in which the simplified dynamics of the vehicle are used to predict the state of the vehicle over the look-ahead horizon. To compensate for the slight dissimilarity between the simplified model and the actual vehicle, a separate controller is designed to track the generated trajectory. The longitudinal dynamics of the vehicle are controlled using the inverse dynamics of the vehicle powertrain model, and the lateral dynamics are controlled using a linear quadratic regulator. In the non-linear model predictive framework, to obtain safe trajectories, local obstacle information is incorporated into the performance index using a parallax-based method. Simulation results on a full non-linear vehicle model show that the proposed combination of model-predictive-control-based trajectory generation and tracking controller gives satisfactory online obstacle avoidance performance.
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