Personalized Motion Planning and Tracking Control for Autonomous Vehicles Obstacle Avoidance
A personalized motion planning and tracking control framework is proposed to prevent collisions between autonomous vehicles and obstacles ahead. The presented framework consists of a motion planning generator and a cooperative tracking controller. For motion planning, a multi-constrained numerical optimization method is used to generate the obstacle avoidance motion planning for autonomous vehicles according to the individual needs of the passengers. For tracking control, a cooperative longitudinal and lateral motion controller is designed to track the planning results. The longitudinal controller is composed of a model predictive controller, and the lateral controller is composed of a nonlinear steering controller. The planning results show that the adopted motion planning algorithm can achieve personalized motion planning according to the needs of the passengers. Simulink and CarSim co-simulation results show the excellent tracking performance of the proposed cooperative controller. The performance analysis results show that the proposed framework can improve the corresponding driving performance according to the individual needs of the passengers.
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Availability:
- Find a library where document is available. Order URL: http://worldcat.org/issn/00189545
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Supplemental Notes:
- Copyright © 2022, IEEE.
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Authors:
- Zhang, Xinglong
- Zhang, Wenxin
- Zhao, Youqun
- Wang, Hai
- Lin, Fen
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0000-0002-6598-3664
- Cai, Yingfeng
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0000-0002-0633-9887
- Publication Date: 2022-5
Language
- English
Media Info
- Media Type: Web
- Features: References;
- Pagination: pp 4733-4747
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Serial:
- IEEE Transactions on Vehicular Technology
- Volume: 71
- Issue Number: 5
- Publisher: Institute of Electrical and Electronics Engineers (IEEE)
- ISSN: 0018-9545
- Serial URL: http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=25
Subject/Index Terms
- TRT Terms: Autonomous vehicles; Crash avoidance systems; Human factors; Predictive models; Trajectory control; Vehicle safety
- Identifier Terms: Carsim (Computer program); Simulink (Computer program)
- Subject Areas: Highways; Passenger Transportation; Safety and Human Factors; Vehicles and Equipment;
Filing Info
- Accession Number: 01849294
- Record Type: Publication
- Files: TRIS
- Created Date: Jun 23 2022 9:16AM