Automated Driving Control of Vehicles with Guidances

被引：0

作者：

Sheng, Encong ^{[1
]}

Yu, Shuyou ^{[1
]}

Chang, Huan ^{[1
]}

Zhang, Yajing ^{[1
]}

Li, Yongfu ^{[2
]}

Hao, Yi ^{[3
]}

机构：

[1] Jilin Univ, Dept Control Sci & Engn, Changchun 130022, Peoples R China

[2] Chongqing Univ Posts & Telecommun, Dept Automat, Chongqing 400065, Peoples R China

[3] Dongfeng Motor Corp, Dongfeng Commercial Vehicle Technol Ctr, Wuhan 442001, Peoples R China

来源：

2022 IEEE 25TH INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC) | 2022年

基金：

中国国家自然科学基金;

关键词：

DYNAMIC-MODE DECOMPOSITION;

D O I：

10.1109/ITSC55140.2022.9921780

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Automated driving control of vehicles is considered, where both longitudinal and lateral dynamics are taken into account. Firstly, the vehicle dynamics are approximated by a global linear model obtained by Koopman operator theory. Then, a linear model predictive controller is designed, in which the global linear model is used to predict vehicle dynamics. Thus, it can reduce the computational burden accordingly. The state of the preceding vehicle is used as the reference of the following vehicle to complete the automated driving control. Finally, the efficacy of the proposed strategy is confirmed through simulation.

引用

页码：1817 / 1822

页数：6

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