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Path Planning and Tracking for Vehicle Collision Avoidance Based on Model Predictive Control With Multiconstraints
Abstract
A path planning and tracking framework is presented to maintain a collision-free path for autonomous vehicles. For path-planning approaches, a 3-D virtual dangerous potential field is constructed as a superposition of trigonometric functions of the road and the exponential function of obstacles, which can generate a desired trajectory for collision avoidance when a vehicle collision with obstacles is likely to happen. Next, to track the planned trajectory for collision avoidance maneuvers, the path-tracking controller formulated the tracking task as a multiconstrained model predictive control (MMPC) problem and calculated the front steering angle to prevent the vehicle from colliding with a moving obstacle vehicle. Simulink and CarSim simulations are conducted in the case where moving obstacles exist. The simulation results show that the proposed path-planning approach is effective for many driving scenarios, and the MMPC-based path-tracking controller provides dynamic tracking performance and maintains good maneuverability.
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Citations
Cited by
Huang, Y., Ding, H., Zhang, Y., Wang, H., Cao, D., Xu, N., & Hu, C. (2020) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2019.2898599 · Cited by 409
Self-citationHumanlike Driving: Empirical Decision-Making System for Autonomous Vehicles
Li, L., Ota, K., & Dong, M. (2018) · IEEE Transactions on Vehicular Technology · doi:10.1109/tvt.2018.2822762 · Cited by 282
Wu, Y., Wang, L., Zhang, J., & Li, F. (2019) · IEEE Transactions on Vehicular Technology · doi:10.1109/tvt.2019.2916982 · Cited by 247
Control Strategies on Path Tracking for Autonomous Vehicle: State of the Art and Future Challenges
Yao, Q., Tian, Y., Wang, Q., & Wang, S. (2020) · IEEE Access · doi:10.1109/access.2020.3020075 · Cited by 211
Fu, Y., Li, C., Yu, F. R., Luan, T. H., & Zhang, Y. (2022) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2021.3083927 · Cited by 169
Metadata
- Authors
- Ji, J., Khajepour, A., Melek, W. W., & Huang, Y.
- Venue
- IEEE Transactions on Vehicular Technology
- Published
- 2017-02
- Volume
- 66
- Issue
- 2
- Pages
- 952-964
- ISSN
- 0018-9545 (ISSN-L)
- 1939-9359
- OpenAlex
- W2341848647
- Cited by
- 1,039
- References
- 0
- FWCI
- 37.65
- Type
- journal article
- Language
- en
- Open access
- closed
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- Ji, J., Khajepour, A., Melek, W. W., & Huang, Y. (2017). Path Planning and Tracking for Vehicle Collision Avoidance Based on Model Predictive Control With Multiconstraints. IEEE Transactions on Vehicular Technology. https://doi.org/10.1109/tvt.2016.2555853
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