基于最优控制的自动驾驶方法

R. Dariani, S. Schmidt, R. Kasper
{"title":"基于最优控制的自动驾驶方法","authors":"R. Dariani, S. Schmidt, R. Kasper","doi":"10.1109/ETFA.2016.7733718","DOIUrl":null,"url":null,"abstract":"In this paper based on vehicle single track model an optimal control strategy for autonomous driving is developed. The reference control values which lead the vehicle alongside a calculated optimal path by satisfying optimization objective criteria such as comfort and safety are generated by real-time path optimization level. In this level to avoid any collision and obstacle, one dimensional potential field obstacle avoiding approach based on the distance between vehicle and obstacle is used. In a prior level, which is called path planning the initial solution of the system which is the input of path optimization level is found. In this paper each level and the effect of initial solution on path optimization level is explained.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Optimal control based approach for autonomous driving\",\"authors\":\"R. Dariani, S. Schmidt, R. Kasper\",\"doi\":\"10.1109/ETFA.2016.7733718\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper based on vehicle single track model an optimal control strategy for autonomous driving is developed. The reference control values which lead the vehicle alongside a calculated optimal path by satisfying optimization objective criteria such as comfort and safety are generated by real-time path optimization level. In this level to avoid any collision and obstacle, one dimensional potential field obstacle avoiding approach based on the distance between vehicle and obstacle is used. In a prior level, which is called path planning the initial solution of the system which is the input of path optimization level is found. In this paper each level and the effect of initial solution on path optimization level is explained.\",\"PeriodicalId\":6483,\"journal\":{\"name\":\"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-09-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ETFA.2016.7733718\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ETFA.2016.7733718","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3

摘要

本文基于车辆单轨模型,提出了一种自动驾驶车辆的最优控制策略。通过实时路径优化级别生成参考控制值,使车辆在满足舒适性、安全性等优化目标条件下沿计算出的最优路径行驶。在这一层中,为了避免碰撞和障碍物,采用了基于车辆与障碍物之间距离的一维势场避障方法。在一个称为路径规划的先验层中,找到作为路径优化层输入的系统的初始解。本文阐述了路径优化的各个层次以及初始解对路径优化层次的影响。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
Optimal control based approach for autonomous driving
In this paper based on vehicle single track model an optimal control strategy for autonomous driving is developed. The reference control values which lead the vehicle alongside a calculated optimal path by satisfying optimization objective criteria such as comfort and safety are generated by real-time path optimization level. In this level to avoid any collision and obstacle, one dimensional potential field obstacle avoiding approach based on the distance between vehicle and obstacle is used. In a prior level, which is called path planning the initial solution of the system which is the input of path optimization level is found. In this paper each level and the effect of initial solution on path optimization level is explained.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
期刊最新文献
FourByThree: Imagine humans and robots working hand in hand Orchestration of Arrowhead services using IEC 61499: Distributed automation case study 3D simulation-based user interfaces for a highly-reconfigurable industrial assembly cell QoS-as-a-Service in the local cloud IoT-based interoperability framework for asset and fleet management
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1