Longitudinal Collision Avoidance and Lateral Stability Adaptive Control System Based on MPC of Autonomous Vehicles

Cheng, Shuo; Zhang, Lipeng; Guo, Hongwei; Chen, Zhenguo; Song, Peng

doi:10.1109/tits.2019.2918176

Cited by 141 publications

(69 citation statements)

References 28 publications

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“…As active safety vehicle systems have emerged, several lane change control systems have begun to consider longitudinal dynamics for emergency lane changing [34][35][36] and overtaking [37]. These systems are designed to prevent forward collisions by steering when the vehicle is unable to stop behind the forward vehicle or obstacle, even though ACC or pre-brake control has already been initiated.…”

Section: B Lane Change Control Researchmentioning

confidence: 99%

“…Meanwhile, in automotive control research, various driving controllers have been studied through the approach of separating the longitudinal and lateral dynamics; generally, lane changes have been tackled in lateral dynamics by neglecting variability of the longitudinal behaviors (i.e., longitudinal velocity is assumed to be constant) [27][28][29][30][31][32][33]. Because longitudinal motion variations have an adverse effect on the lateral-dynamics-based controls, numerous attempts have been made to reflect these longitudinal dynamics in lane changing procedures; this has primarily been studied to design collision avoidance [34][35][36] and overtaking [37] techniques. Furthermore, research into lane change trajectory tracking procedures that couple longitudinal and lateral dynamics has recently been conducted [38,39].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Decoupled Longitudinal and Lateral Vehicle Control Based Autonomous Lane Change System Adaptable to Driving Surroundings

Park

Jhang

2021

IEEE Access

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Section: B Lane Change Control Researchmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Decoupled Longitudinal and Lateral Vehicle Control Based Autonomous Lane Change System Adaptable to Driving Surroundings

Park

Jhang

2021

IEEE Access

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“…Models used for tractor-semitrailers vary in a vast range of complexity from large multi-body combinations with numerous degrees of freedom, which demand costly calculations compared against simple 3-DOF bicycle models [25]. In many of the published research works such as [7], [26]- [28] a simplified 5-DOF, 3-wheel linear model has been used. This simple model seems quite sufficient for analyzing lateral stability of a tractor-semitrailer in path following control strategy design which is an integral part of any autonomous AHV design.…”

Section: Vehicle Models Used In Automated Driving Controller Designmentioning

confidence: 99%

A Review of Essential Technologies for Autonomous and Semi-autonomous Articulated Heavy Vehicles

Rahimi¹,

He²

2020

Progress in Canadian Mechanical Engineering. Volume 3

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To increase the safety of articulated heavy vehicles (AHVs), attention has been paid to exploring active vehicle safety systems (AVSSs), e.g., anti-lock braking systems. These active vehicle safety technologies are classified as 'reactive safety systems', designed to react to the current vehicle state. These systems are effective, but do not consider the effect of driver error. The main cause of traffic accidents is linked to human errors. A resolution to the problem is autonomous driving, which removes human factors from the control loop. There will be a transition period, during which most vehicles have some capabilities of autonomous driving. Since the late 1990s, lane departure warning and adaptive cruise control systems have been proposed. These technologies are classified as 'predictive safety systems' (PSSs), considering not only the current vehicle state, but also the predicted vehicle state and environmental hazards. For passenger vehicles, several PSSs have been investigated. These PSSs are featured with semiautonomous driving functions. AHVs represent a 7.5 times higher risk than passenger cars in highway operations. However, much less attention has been paid to exploring the PSSs for AHVs. This paper reviews the current status of essential technologies proposed and examined for autonomous and semi-autonomous AHVs. The pros and cons of the technologies are discussed and analyzed. As a result of the review, future research efforts are identified.

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“…Cheng proposed a lateral stability coordinated collision avoidance control system (LSCACS). The LSCACS obtained the reference values of yaw angle and side deflection angle through the linear two-DOF vehicle model, determined the working mode of the system by combining with Time to Collision (TTC), and finally obtained the corresponding tire force based on the MPC control [26]. He assessed the risk related to collision and instability using the dynamic risk assessment model based on genetic algorithm and used the fifth order polynomial equation to generate the path without collision and with high lateral stability [27].…”

Section: Related Researchmentioning

confidence: 99%

Anti-rollover Motion Planning for Automated Heavy Trucks

Jin

Wang

et al. 2020

Preprint

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Anti-rollover is an important performance for automated heavy trucks, which has been seldomly considered in the motion planning. This paper proposes an anti-rollover motion planning based on model predictive control (MPC) for automated heavy trucks. Taking the coupling of roll motion of sprung mass of the front axle with that of the drive axle into consideration, a seven degrees of freedom rollover dynamics model is established, and an evaluation index that can accurately describe the rollover motion is derived for heavy trucks. Then, a model predictive control strategy is designed for motion planning that combines the rollover dynamics, the artificial potential field for obstacle avoidance, and the trajectory tracking. In addition, the optimal path is calculated that considers collision avoidance, anti-rollover and vehicle dynamic constraints. Furthermore, three typical scenarios are applied to validate the performance of the proposed motion planning algorithm. The obtained results demonstrate that the proposed anti-rollover motion planning can effectively avoid collisions and reduce the rollover risk simultaneously when confronting edge scenarios.

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Longitudinal Collision Avoidance and Lateral Stability Adaptive Control System Based on MPC of Autonomous Vehicles

Cited by 141 publications

References 28 publications

Decoupled Longitudinal and Lateral Vehicle Control Based Autonomous Lane Change System Adaptable to Driving Surroundings

Decoupled Longitudinal and Lateral Vehicle Control Based Autonomous Lane Change System Adaptable to Driving Surroundings

A Review of Essential Technologies for Autonomous and Semi-autonomous Articulated Heavy Vehicles

Anti-rollover Motion Planning for Automated Heavy Trucks

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