Zhiwei Zhao, Kang Yuan, Jiatong Du, Yulei Wang, Yanjun Huang, Hong Chen
{"title":"Planning and control of autonomous driving in lane-change manoeuvre based on MPC: a framework and design principles","authors":"Zhiwei Zhao, Kang Yuan, Jiatong Du, Yulei Wang, Yanjun Huang, Hong Chen","doi":"10.1504/ijvd.2023.134754","DOIUrl":null,"url":null,"abstract":"To realise a safe trajectory planning and control performance based on model predictive control (MPC) and investigate the effects of MPC horizons on the system performance, this paper proposes a longitudinal-lateral decoupled trajectory planning method with a safety guarantee principle and develops an MPC tracking controller using the vehicle dynamics model. Besides, the effects of the planning horizon and the control horizon on lane-changing performance are investigated. Finally, a comprehensive evaluation indicator considering safety, comfort, and efficiency is proposed to provide recommended prediction horizons for different styles of driving behaviour. Several cases are studied and the results validate the effectiveness of the proposed method.","PeriodicalId":54938,"journal":{"name":"International Journal of Vehicle Design","volume":null,"pages":null},"PeriodicalIF":0.6000,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Vehicle Design","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1504/ijvd.2023.134754","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
引用次数: 0
Abstract
To realise a safe trajectory planning and control performance based on model predictive control (MPC) and investigate the effects of MPC horizons on the system performance, this paper proposes a longitudinal-lateral decoupled trajectory planning method with a safety guarantee principle and develops an MPC tracking controller using the vehicle dynamics model. Besides, the effects of the planning horizon and the control horizon on lane-changing performance are investigated. Finally, a comprehensive evaluation indicator considering safety, comfort, and efficiency is proposed to provide recommended prediction horizons for different styles of driving behaviour. Several cases are studied and the results validate the effectiveness of the proposed method.
期刊介绍：
IJVD, the journal of vehicle engineering, automotive technology and components, has been established for over a quarter of a century as an international authoritative reference in the field. It publishes the Proceedings of the International Association for Vehicle Design, which is an independent, non-profit-making learned society that exists to develop, promote and coordinate the science and practice of vehicle design and safety.
Topics covered include
Vehicle engineering design
Automotive technology
R&D of all types of self-propelled vehicles
R&D of vehicle components
Interface between aesthetics and engineering
Integration of vehicle and components design into the development of complete vehicle systems
Social and environmental impacts of vehicle design
Energy
Safety.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
