Collision Avoidance for Autonomous Vehicles Based on MPC With Adaptive APF

被引：18
作者：
Yang, Hongjiu [1 ]
He, Yongqi [1 ]
Xu, Yang [2 ]
Zhao, Hai [1 ]
机构：
[1] Tianjin Univ, Tianjin Key Lab Intelligent Unmanned Swarm Techno, Sch Elect & Informat Engn, Tianjin 300072, Peoples R China
[2] Tiangong Univ, Sch Aeronaut & Astronaut, Tianjin 300387, Peoples R China
来源：
IEEE TRANSACTIONS ON INTELLIGENT VEHICLES | 2024年 / 9卷 / 01期
基金：
中国国家自然科学基金;
关键词：
Collision avoidance; Autonomous vehicles; Roads; Vehicle dynamics; Symmetric matrices; Aerodynamics; Adaptation models; Model predictive control (MPC); artificial potential field (APF); autonomous vehicle; collision avoidance; MODEL;
D O I：
10.1109/TIV.2023.3337417
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, a model predictive control (MPC) strategy is developed to realize collision avoidance with dynamic obstacle vehicles for an autonomous vehicle. A novel collision constraint based on road width and vehicle shape is proposed to ensure a safe distance between the autonomous vehicle and an obstacle vehicle. A smooth path is guaranteed in collision avoidance by the adaptive artificial potential field (APF) method for the autonomous vehicle using the MPC strategy. Both recursive feasibility and practical stability are analyzed for the autonomous vehicle based on the MPC strategy with multiple constraints and variable longitudinal velocity. Experimental results are presented to demonstrate the effectiveness and superiority of the MPC strategy with the adaptive APF method.
引用
收藏
页码：1559 / 1570
页数：12
相关论文
共 33 条
[1]   Coordinating Tire Forces to Avoid Obstacles Using Nonlinear Model Predictive Control [J].
Brown, Matthew ;
Gerdes, J. Christian .
IEEE TRANSACTIONS ON INTELLIGENT VEHICLES, 2020, 5 (01) :21-31
[2]   Coupled longitudinal/lateral controllers for autonomous vehicles navigation, with experimental validation [J].
Chebly, Alia ;
Talj, Reine ;
Charara, Ali .
CONTROL ENGINEERING PRACTICE, 2019, 88 :79-96
[3]   Online Learning-Informed Feedforward-Feedback Controller Synthesis for Path Tracking of Autonomous Vehicles [J].
Chen, Hao ;
Lv, Chen .
IEEE TRANSACTIONS ON INTELLIGENT VEHICLES, 2023, 8 (04) :2759-2769
[4]   A Review of Motion Planning for Highway Autonomous Driving [J].
Claussmann, Laurene ;
Revilloud, Marc ;
Gruyer, Dominique ;
Glaser, Sebastien .
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2020, 21 (05) :1826-1848
[5]   Trajectory Planning for Autonomous High-Speed Overtaking in Structured Environments Using Robust MPC [J].
Dixit, Shilp ;
Montanaro, Umberto ;
Dianati, Mehrdad ;
Oxtoby, David ;
Mizutani, Tom ;
Mouzakitis, Alexandros ;
Fallah, Saber .
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2020, 21 (06) :2310-2323
[6]   Shared Steering Control Using Safe Envelopes for Obstacle Avoidance and Vehicle Stability [J].
Erlien, Stephen M. ;
Fujita, Susumu ;
Gerdes, Joseph Christian .
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2016, 17 (02) :441-451
[7]   Automatic Parking Control of Unmanned Vehicle Based on Switching Control Algorithm and Backstepping [J].
Gao, Hongbo ;
Zhu, Juping ;
Li, Xinde ;
Kang, Yu ;
Li, Jiehao ;
Su, Hang .
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2022, 27 (03) :1233-1243
[8]   Situational Assessment for Intelligent Vehicles Based on Stochastic Model and Gaussian Distributions in Typical Traffic Scenarios [J].
Gao, Hongbo ;
Zhu, Juping ;
Zhang, Tong ;
Xie, Guotao ;
Kan, Zhen ;
Hao, Zhengyuan ;
Liu, Kang .
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2022, 52 (03) :1426-1436
[9]   Robust Lateral Trajectory Following Control of Unmanned Vehicle Based on Model Predictive Control [J].
Gao, Hongbo ;
Kan, Zhen ;
Li, Keqiang .
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2022, 27 (03) :1278-1287
[10]   A Computationally Efficient Path-Following Control Strategy of Autonomous Electric Vehicles With Yaw Motion Stabilization [J].
Guo, Ningyuan ;
Zhang, Xudong ;
Zou, Yuan ;
Lenzo, Basilio ;
Zhang, Tao .
IEEE TRANSACTIONS ON TRANSPORTATION ELECTRIFICATION, 2020, 6 (02) :728-739
1234