Integration of motion planning and model-predictive-control-based control system for autonomous electric vehicles

Transport

Jianghu Li¹  Nan Chen²  Chentong Bian²  Guodong Yin²  Xianjian Jin³ 

[1] State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China;School of Mechanical Engineering, Southeast University, Nanjing, China;State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China

关键词: autonomous electric vehicles;    motion planning;    model predictive control;   

DOI  :  10.3846/16484142.2015.1089322

学科分类：航空航天科学

来源: Vilnius Gedinimas Technical University

【 摘 要 】

This paper introduces the development of an autonomous driving system in autonomous electric vehicles, which consists of a simplified motion-planning program and a Model-Predictive-Control-Based (MPC-based) control system. The motion-planning system is based on polynomial parameterization, which computes a path toward the expected longitudinal and lateral positions within required time interval in real scenarios. Then the MPC-based control system cooperates the front steering and individual wheel torques to track the planned trajectories, while fulfilling the physical constraints of actuators. The proposed system is evaluated through simulation, using a seven-degrees-offreedom vehicle model with a ‘magic formula’ tire model. The simulations and validation through CarSim show that the proposed planner algorithm and controller are feasible and can achieve requirements of autonomous driving in normal scenarios.

【 授权许可】

CC BY