Autonomous vehicle collision avoidance system using path planning and model-predictive-control-based active front steering and wheel torque control

Shim, Taehyun; Adireddy, Ganesh; Yuan, Hongliang

doi:10.1177/0954407011430275

Cited by 152 publications

(92 citation statements)

References 27 publications

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“…The architecture presented in [22] is a versatile and modular framework composed by six abstraction blocks which defines the major areas of influence in automated driving applications: acquisition, perception, communication, decision, control, and actuation. This section gives an introduction to the aforementioned architecture combined with details of simulated and experimental platforms used in this approach.…”

Section: Integration On Automated Vehicle Architecturementioning

confidence: 99%

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Urban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safety

Lattarulo

Gonzalez

Martí

et al. 2018

Journal of Advanced Transportation

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In last decades, great technology advances have been done related to the automotive sector, especially in Advanced Driver Assistance Systems (ADAS) developed to improve mobility in terms of comfort and safety during driving process; hence, automated driving is presented as an evolution of those systems in the present and upcoming years. The aim of this work is to present a complete framework of motion planning for automated vehicles, considering different constraints with parametric curves for lateral and longitudinal planners. Parametric Bézier curves are used as the core approach for trajectory design in intersections, roundabouts, and lane change maneuvers. Additionally, a speed planner algorithm is presented using the same parametric curve approach, considering comfort and safety. A simulation environment is used for testing the planning method in urban conditions. Finally, tests with the real platform in automated mode have been performed showing goods results.

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Section: Integration On Automated Vehicle Architecturementioning

confidence: 99%

“…The problem with this approach was that the authors only considered the longitudinal part of the vehicle's decision. On the other hand, [22,23] have presented works about general methods for trajectory generation considering intersections and roundabouts, but the speed profile generation was considered later on [24].…”

Section: Introductionmentioning

confidence: 99%

Urban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safety

Lattarulo

Gonzalez

Martí

et al. 2018

Journal of Advanced Transportation

View full text Add to dashboard Cite

show abstract

“…[10,10], and the development of the orientation angle, θ, and steering angle, φ, during the travel. The time for completing this travel is set for T = 100 sec; Next, we shorten the horizon prediction length to Nu = 6 and Ny = 6 while maintain other parameters unchanged.…”

Section: Nmpc For Tracking Flatness Trajectorymentioning

confidence: 99%

“…[10,10], and the development of its orientation angle, θ, and steering angle, φ, during the travel. Similarly, the time for completing this travel is set for T = 100 sec;…”

Section: Nmpc For Tracking Polynomial Trajectorymentioning

confidence: 99%

“…However, this paper did not mention how a feasible trajectory can be generated and how an optimal control action can be achieved for the best tracking performance. Another article by Shim T. et al (2012) [10] derives a NMPC to control the front steering and the wheel torque for an autonomous ground robot. However, the paper failed to apply the on-line solving of the nonlinear dynamics ODEs for this NMPC.…”

Section: Introductionmentioning

confidence: 99%

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Nonlinear Model Predictive Controller and Feasible Path Planning for Autonomous Robots

Minh

2016

Open Computer Science

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This paper develops the nonlinear model predictive control (NMPC) algorithm to control autonomous robots tracking feasible paths generated directly from the nonlinear dynamic equations. NMPC algorithm can secure the stability of this dynamic system by imposing additional conditions on the open loop NMPC regulator. The NMPC algorithm maintains a terminal constrained region to the origin and thus, guarantees the stability of the nonlinear system. Simulations show that the NMPC algorithm can minimize the path tracking errors and control the autonomous robots tracking exactly on the feasible paths subject to the system's physical constraints.

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An LMIs‐based back‐stepping sliding mode control framework for robust velocity tracking of the automatic driving vehicle on sloped roads

Chen

Cao

Zhao

et al. 2022

Intl J Robust & Nonlinear

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Automatic driving has received a broad of attention from academia and industry since it is effective in greatly reducing the severity of potential traffic accidents and achieving the ultimate automobile safety and comfort. This article presents a back-stepping sliding mode controller (BSMC) through linear matrix inequalities (LMIs) for the highly automatic driving vehicle on sloped roads. It includes three key modules, namely, an extended Kalman filter (EKF)-based road slope estimation module, a robust BSMC-LMIs velocity-tracking controller based on the input-output feedback linearization, as well as a longitudinal inverse vehicle dynamics module. The nonlinear combined slip tire model with the transient behavior is introduced to calculate the tire forces properly, which would be further proven to offer more accurate road slope estimations even in a fierce acceleration or deceleration situation. The proposed BSMC-LMIs controller for velocity tracking can handle the lumped uncertainties which include the modeling error, the parameter perturbation, external disturbances, and noises, and guarantee the reachability of the sliding surface, meanwhile, alleviating the chattering phenomenon inherited from the sliding mode structure. Besides, a sufficient condition for the existence of the proposed BSMC is derived by using the LMIs, which ensures the t −𝛼 asymptotical stability on the sliding surface.Finally, the robustness, feasibility, and effectiveness of the proposed BSMC-LMIs controller for velocity-tracking are verified by simulation tests in various working scenarios, which shows satisfying results when dealing with the lumped uncertainties on sloped roads. Moreover, the comparative study also shows that the proposed BSMC-LMIs controller has the best tracking performance when compared to the model predictive control, conventional sliding mode control, and the cubic proportional-integral controller.

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Autonomous vehicle collision avoidance system using path planning and model-predictive-control-based active front steering and wheel torque control

Cited by 152 publications

References 27 publications

Urban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safety

Urban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safety

Nonlinear Model Predictive Controller and Feasible Path Planning for Autonomous Robots

An LMIs‐based back‐stepping sliding mode control framework for robust velocity tracking of the automatic driving vehicle on sloped roads

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