Idioma:

Integrated Spatial Kinematics–Dynamics Model Predictive Control for Collision-Free Autonomous Vehicle Tracking

Yang, Weishan ; Su, Yixin ; Chen, Yuepeng ; Lian, Cheng

Actuators, 2024-04, Vol.13 (4), p.153 [Periódico revisado por pares]

Basel: MDPI AG

Texto completo disponível

Citações Citado por

Enviar para

Título:
Integrated Spatial Kinematics–Dynamics Model Predictive Control for Collision-Free Autonomous Vehicle Tracking
Autor: Yang, Weishan ; Su, Yixin ; Chen, Yuepeng ; Lian, Cheng
Assuntos: Algorithms ; Analysis ; Artificial intelligence ; Autonomous vehicles ; Barriers ; Collision avoidance ; Collision dynamics ; collision-free tracking ; Collisions ; Control algorithms ; Controllers ; Decision making ; Design ; Driverless cars ; Dynamic models ; Dynamic stability ; Friction ; Integer programming ; integrated model predictive control ; Kinematics ; Lateral stability ; Motion control ; Optimization algorithms ; Predictive control ; roll dynamics ; Rolling motion ; Sampling ; simulation studies ; Spatial data ; spatial kinematics model ; Telematics ; Tires ; Tracking control ; Traffic accidents ; Trajectory control ; Trajectory planning ; Velocity
É parte de: Actuators, 2024-04, Vol.13 (4), p.153
Descrição: The development of intelligent transportation technology has provided a significant impetus for autonomous driving technology. Currently, autonomous vehicles based on Model Predictive Control (MPC) employ motion control strategies based on sampling time, which fail to fully utilize the spatial information of obstacles. To address this issue, this paper proposes a dual-layer MPC vehicle collision-free trajectory tracking control strategy that integrates spatial kinematics and vehicle dynamics. To fully utilize the spatial information of obstacles, we designed a vehicle model based on spatial kinematics, enabling the upper-layer MPC to plan collision avoidance trajectories based on distance sampling. To improve the accuracy and safety of trajectory tracking, we designed an 8-degree-of-freedom vehicle dynamic model. This allows the lower-layer MPC to consider lateral stability and roll stability during trajectory tracking. In collision avoidance trajectory tracking experiments using three scenarios, compared to two advanced time-based algorithms, the trajectories planned by the proposed algorithm in this paper exhibited predictability. The proposed algorithm can initiate collision avoidance at predetermined positions and can avoid collisions in predetermined directions, with all state variables within safe ranges. In terms of time efficiency, it also outperformed the comparative algorithms.
Editor: Basel: MDPI AG
Idioma: Inglês

Links

Este item no Dedalus

Voltar para lista de resultados

Anterior Resultado 18 Avançar Ir para próxima página

Realização: Logos de Redes Sociais:

Integrated Spatial Kinematics–Dynamics Model Predictive Control for Collision-Free Autonomous Vehicle Tracking

Yang, Weishan ; Su, Yixin ; Chen, Yuepeng ; Lian, Cheng

Basel: MDPI AG

Buscando em bases de dados remotas. Favor aguardar.