Trajectory Generation Using Model Predictive Control for Automated Vehicles

被引：0
作者：
Irie Y. [1 ]
Akasaka D. [2 ]
机构：
[1] Toyota Motor Corporation, Automated Driving & Advanced Safety System Development Div., 2-3-18 Kudanminami, Chiyoda-ku, Tokyo
[2] MathWorks Japan, 7/F Akasaka Garden City, 4-15-1 Akasaka, Tokyo
来源：
International Journal of Automotive Engineering | 2021年 / 12卷 / 01期
关键词：
automated vehicle; autonomous driving system / electronic stability control; driving model [B1; model predictive control; path planning; vehicle dynamics; vehicle trajectory control;
D O I：
10.20485/jsaeijae.12.1_24
中图分类号：
学科分类号：
摘要：
Recently, many companies have been working on developing technologies for automated driving. For automotive companies, one of the challenges is to realize the automated driving with safety and reliability. This paper addresses a trajectory generation method using model predictive control (MPC) for the control development of the automated driving. Using the MPC, the design method of a steering control will be proposed in order to generate trajectory and develop a practical algorithm considering a product implementation. More concretely, we propose the design method of 1) online trajectory generation to maximize use of an entire road width like a skilled driver that has a significant experience in driving and 2) smooth trajectory correction whenever the vehicle slips away from an appropriate trajectory, which are useful for actual product development. © 2021 society of Automotive Engineering of Japan,Inc. All Rights Reserved.
引用
收藏
页码：24 / 31
页数：7
相关论文
共 13 条
  • [1] Paden B., Cap M., Yong S. Z., Yershov D., Frazzoli E., A Survey of Motion Planning and Control Techniques for Self Driving Urban Vehicles, IEEE Transactions on Intelligent Vehicles, 1, 1, pp. 33-55, (2016)
  • [2] Falcone P., Borrelli F., Asgari J., Tseng H. E., Hrovat D., Predictive Active Steering Control for Autonomous Vehicle Systems, IEEE Transactions on Control Systems Technology, 15, 3, pp. 566-580, (2007)
  • [3] Turri J., Carvalho A., Tseng H. E., Johansson K. H., Borrelli F., Linear model predictive control for lane keeping and obstacle avoidance on low curvature roads, 16th International IEEE Conference on Intelligent Transportation Systems, pp. 378-383, (2013)
  • [4] Liniger A., Domahidi A., Morari M., Optimization-based autonomous racing of 1:43 scale RC cars, Optimal Control Applications and Methods, 36, 5, pp. 628-647, (2015)
  • [5] Kim E., Kim J., Sunwoo M., Model Predictive Control Strategy for Smooth Path Tracking of Autonomous Vehicles with Steering Actuator Dynamics, International Journal of Automotive Technology, 15, pp. 1155-1164, (2014)
  • [6] Yi B., Bender P., Bonarens F., Stiller C., Model Predictive Trajectory Planning for Automated Driving, IEEE Transactions on Intelligent Vehicles, 4, 1, pp. 24-38, (2019)
  • [7] Liu C., Lee S., Varnhagen S., Tseng H. E., Path planning for Autonomous Vehicles Using Model Predictive Control, 2017 IEEE Intelligent Vehicles Symposium (IV), pp. 174-179, (2017)
  • [8] Rasekhipour Y., Khajepour A., Chen S., Litkouh B., A Potential Field-Based Model Predictive Path-Planning Controller for Autonomous Road Vehicles, IEEE Transactions on Intelligent Transportation Systems, 18, 5, pp. 1255-1267, (2017)
  • [9] Nolte M., Rose M., Stolte T., Maurer M., Model Predictive Control Based Trajectory Generation for Autonomous Vehicles An Architectural Approach, 2017 IEEE Intelligent Vehicles Symposium (IV), pp. 798-805, (2017)
  • [10] Garcia C. E., Prett D. M., Morari M., Model Predictive Control: Theory and Practice a Survey, Automatica, 25, 3, pp. 335-348, (1989)
12