Obstacle Avoidance in Real Time With Nonlinear Model Predictive Control of Autonomous Vehicles

被引:68
作者
Abbas, Muhammad Awais [1 ]
Milman, Ruth [1 ]
Eklund, J. Mikael [1 ]
机构
[1] Univ Ontario, Inst Technol, Dept Elect Comp Engn & Software Engn, Oshawa, ON L1H 7K4, Canada
来源
CANADIAN JOURNAL OF ELECTRICAL AND COMPUTER ENGINEERING-REVUE CANADIENNE DE GENIE ELECTRIQUE ET INFORMATIQUE | 2017年 / 40卷 / 01期
基金
加拿大自然科学与工程研究理事会;
关键词
Autonomous automobiles; nonlinear control systems; predictive control; realtime system; TRACKING;
D O I
10.1109/CJECE.2016.2609803
中图分类号
TP3 [计算技术、计算机技术];
学科分类号
0812 ;
摘要
A Nonlinear model predictive control (NMPC) for trajectory tracking with the obstacle avoidance of autonomous road vehicles traveling at realistic speeds is presented in this paper, with a focus on the performance of those controllers with respect to the look-ahead horizon of the NMPC. Two different methods of obstacle avoidance are compared and then the NMPC is tested in several simulated but realistic tracking scenarios involving static obstacles on constrained roadways. In order to simplify the vehicle dynamics, a bicycle model is used for the prediction of future vehicle states in the NMPC framework. However, a high-fidelity, nonlinear CarSim vehicle model is used to evaluate the vehicle performance and test the controllers in the simulation results. The CPU time is also analyzed to evaluate these schemes for real-time applications. The results show that the NMPC controller provides satisfactory online tracking performance in a realistic scenario at normal road speeds while still satisfying the real-time constraints. In addition, it is shown that the longer prediction horizons allow for better responses of the controllers, which reduce the deviations while avoiding the obstacles, as compared with shorter horizons.
引用
收藏
页码:12 / 22
页数:11
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