Abstract:In order to improve road safety, promote the development of autonomous driving, and realize the stability of unmanned vehicles during steering and obstacle avoidance, this paper establishes a lateral dynamic model and a cyclotron curve model based on the 3-degree-freedom vehicle dynamics model. Taking no collision between cars and timely obstacle avoidance as the optimization goal, this paper discretizes the model, a prediction model is established, a soft constraint solver is designed, and a relaxation factor… Show more
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