Planning and control of autonomous driving in lane-change manoeuvre based on MPC: a framework and design principles

IF 0.6 4区工程技术 Q4 ENGINEERING, MECHANICAL

International Journal of Vehicle Design Pub Date : 2023-01-01 DOI:10.1504/ijvd.2023.134754

Zhiwei Zhao, Kang Yuan, Jiatong Du, Yulei Wang, Yanjun Huang, Hong Chen

引用次数: 0

Abstract

To realise a safe trajectory planning and control performance based on model predictive control (MPC) and investigate the effects of MPC horizons on the system performance, this paper proposes a longitudinal-lateral decoupled trajectory planning method with a safety guarantee principle and develops an MPC tracking controller using the vehicle dynamics model. Besides, the effects of the planning horizon and the control horizon on lane-changing performance are investigated. Finally, a comprehensive evaluation indicator considering safety, comfort, and efficiency is proposed to provide recommended prediction horizons for different styles of driving behaviour. Several cases are studied and the results validate the effectiveness of the proposed method.

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基于MPC的自动驾驶变道机动规划与控制:框架与设计原则

为了实现基于模型预测控制(MPC)的安全轨迹规划和控制性能，研究MPC视野对系统性能的影响，提出了一种基于安全保证原则的纵向-横向解耦轨迹规划方法，并利用车辆动力学模型开发了MPC跟踪控制器。此外，还研究了规划地平线和控制地平线对变道性能的影响。最后，提出了一个综合考虑安全性、舒适性和效率的综合评价指标，为不同类型的驾驶行为提供推荐的预测范围。算例验证了所提方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Vehicle Design 工程技术-工程：机械

CiteScore

1.10

自引率

0.00%

发文量

审稿时长

9 months

期刊介绍： IJVD, the journal of vehicle engineering, automotive technology and components, has been established for over a quarter of a century as an international authoritative reference in the field. It publishes the Proceedings of the International Association for Vehicle Design, which is an independent, non-profit-making learned society that exists to develop, promote and coordinate the science and practice of vehicle design and safety. Topics covered include Vehicle engineering design Automotive technology R&D of all types of self-propelled vehicles R&D of vehicle components Interface between aesthetics and engineering Integration of vehicle and components design into the development of complete vehicle systems Social and environmental impacts of vehicle design Energy Safety.

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