Autonomous-Driving Vehicle Control With Composite Velocity Profile Planning

被引：19

作者：

Lee, Seung-Hi ^{[1
]}

Chung, Chung Choo ^{[2
]}

机构：

[1] Hongik Univ, Dept Mech & Syst Design Engn, Seoul 04066, South Korea

[2] Hanyang Univ, Div Elect Engn, Seoul 04763, South Korea

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2021年 / 29卷 / 05期

关键词：

Planning; Roads; Control design; Trajectory; Autonomous vehicles; Velocity control; Automotive driving vehicle; decentralized control; lane-change control; linear parameter varying (LPV) model; path planning; vehicle control; velocity profile; MODEL-PREDICTIVE CONTROL; STEERING CONTROL;

D O I：

10.1109/TCST.2020.3029713

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article develops autonomous-driving vehicle control with a composite velocity profile (CVP) planning. An innovative technique of path planning is presented in the vehicle coordinates to allow complete lane change from any position at the origin lane to the center of the target lane. A technique of control is also presented to allow lane-change control design with vehicle speed planning. The CVP consists of longitudinal and lateral velocity profiles in time and planar geometric domains in the vehicle coordinates, respectively. This article also develops an autonomous-driving control framework with decentralized speed/lateral control using the CVP. The stability of the autonomous-driving control system is mathematically proved. Some experimental results on a test vehicle are also presented to demonstrate the utility of the proposed autonomous-driving vehicle control with CVP planning.

引用

页码：2079 / 2091

页数：13

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