Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
Published in:
Multi-degree of Freedom Dynamic Vibration Absorber of the Carbody of High-Speed Trains Read chapter Read first chapter

2022 | OriginalPaper | Chapter

A Path Planning and Tracking Framework Based on Model Predictive Control for Autonomous Vehicle Obstacle Avoidance

Authors : Lu Xiong, Zhiqiang Fu, Dequan Zeng, Zixuan Qian, Bo Leng

Published in: Advances in Dynamics of Vehicles on Roads and Tracks II

Publisher: Springer International Publishing

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

A path planning and tracking framework based on model predictive control to avoid obstacles is proposed for autonomous vehicles. Firstly, a vehicle in road coordinate system is established to describe the relationship between the vehicle and the reference path. Secondly, to deal with multi obstacles, an efficient search-based method along the reference path is used to build collision-free driving corridors as state constraints. Then, a multi-constrained model predictive controller based on vehicle kinematic and dynamic model is employed to compute the optimal steering angle. Finally, the simulation results show that the proposed path planning and control framework approach are effective for various driving scenarios.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

inform now
previous chapter Control Design Framework for Automated Vehicles Using an Advanced Feedback Linearization
next chapter Joint Optimization of Transmission and a Control Allocator to Minimize Power Losses in Electric Vehicles
Literature
González, D., Pérez, J., Milanés, V., et al.: A review of motion planning techniques for automated vehicles. IEEE Trans. Intell. Transp. Syst. 17(4), 1135–1145 (2016)CrossRef
Ji, J., Khajepour, A., Melek, W.W., et al.: Path planning and tracking for vehicle collision avoidance based on model predictive control with multiconstraints. IEEE Trans. Veh. Technol. 66(2), 952–964 (2017)CrossRef
Wang, Q., Müller, S.: A hierarchical controller for path planning and path following based on model predictive control. In: Proceedings of the 13th International Symposium on Advanced Vehicle Control (AVEC 2016), Munich, Germany, 13–16 September 2016 (2016)
Wang, Z., Li, G., Jiang, H., et al.: Collision-free navigation of autonomous vehicles using convex quadratic programming-based model predictive control. IEEE/ASME Trans. Mechatron. PP(99), 1 (2018)
Huang, Y., et al.: A motion planning and tracking framework for autonomous vehicles based on artificial potential field elaborated resistance network approach. IEEE Trans. Industr. Electron. 67(2), 1376–1386 (2019)CrossRef
Elmi, Z., Efe, M.Ö.: Path planning using model predictive controller based on potential field for autonomous vehicles. In: IECON 2018–44th Annual Conference of the IEEE Industrial Electronics Society, pp. 2613–2618 (2018)
Metadata
Title
A Path Planning and Tracking Framework Based on Model Predictive Control for Autonomous Vehicle Obstacle Avoidance
Authors
Lu Xiong
Zhiqiang Fu
Dequan Zeng
Zixuan Qian
Bo Leng
Copyright Year
2022
Book
Advances in Dynamics of Vehicles on Roads and Tracks II

Print ISBN: 978-3-031-07304-5

Electronic ISBN: 978-3-031-07305-2

Copyright Year: 2022

DOI
https://doi.org/10.1007/978-3-031-07305-2_105

Premium Partner

    Image Credits