个人信息Personal Information
教授
博士生导师
硕士生导师
教师拼音名称:lishaosong
出生日期:1986-09-22
电子邮箱:
入职时间:2013-11-01
所在单位:机电工程学院
职务:汽车工程研究院副院长
学历:博士研究生毕业
性别:男
学位:博士学位
在职信息:在职
毕业院校:吉林大学
【SCI】Dynamic Trajectory Planning and Tracking for Autonomous Vehicle With Obstacle Avoidance Based on Model Predictive Control
点击次数:
所属单位:机电工程学院
发表刊物:IEEE Access
项目来源:国家自然科学基金项目
关键字:Autonomous vehicle, dynamic obstacles, moving trend function, dynamic planning and tracking, single-level controller.
摘要:In this study, an obstacle avoidance controller based on nonlinear model predictive control is designed in autonomous vehicle navigation. The reference trajectory is predened using a sigmoid function in accordance with road conditions. When obstacles suddenly appear on a predened trajectory, the reference trajectory should be adjusted dynamically. For dynamic obstacles, a moving trend function is constructed to predict the obstacle position variances in the predictive horizon. Furthermore, a risk index is constructed and introduced into the cost function to realize collision avoidance by combining the relative position relationship between vehicle and obstacles in the predictive horizon. Meanwhile, lateral acceleration constraint is also considered to ensure vehicle stability. Finally, trajectory dynamic planning and tracking are integrated into a single-level model predictive controller. Simulation tests reveal that the designed controller can ensure real-time trajectory tracking and collision avoidance.
合写作者:张袅娜,张邦成
第一作者:李绍松
论文类型:期刊论文
卷号:7
页面范围:2
是否译文:否
发表时间:2019-09-12