Simultaneous Feasible Local Planning and Path-Following Control for Autonomous Driving

In this paper, a new approach for lane change and double-lane change planning and following for autonomous driving is proposed. Herein, the authors introduce a novel technique, based on exponential functions, to generate online and feasible lane change maneuvers; these maneuvers satisfy the constraints on the maximum allowable curvature a given vehicle can handle. In addition, a simultaneous local path planning and path-following control framework is adapted. The framework utilizes a multi-threading architecture to run the local planner module concurrently with the control module. The planning module generates parametric reference paths based on the proposed lane change and double-lane change maneuvers. The control module is based on a Model Predictive Path-following Control (MPFC) scheme, which achieves the path following objective while satisfying vehicle’s state and control limits. To validate the proposed framework, several real-time simulation scenarios are designed and tested on CARLA soft real-time vehicle simulator. The results show the effectiveness of the proposed framework in generating and smoothly following lane change maneuvers.

• Record URL:
  http://dx.doi.org/10.1109/TITS.2022.3149986
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/oclc/41297384
• Supplemental Notes:
  • Copyright © 2022, IEEE.
• Authors:
  • Daoud, Mohamed A
  • Mehrez, Mohamed W
  • Rayside, Derek
  • Melek, William W
• Publication Date: 2022-9

Language

• English

Media Info

• Media Type: Web
• Pagination: pp 16358-16370
• Serial:
  • IEEE Transactions on Intelligent Transportation Systems
  • Volume: 23
  • Issue Number: 9
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 1524-9050
  • Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979

Subject/Index Terms

• TRT Terms: Autonomous vehicles; Lane changing; Trajectory control
• Subject Areas: Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01868925
• Record Type: Publication
• Files: TRIS
• Created Date: Dec 29 2022 9:11AM