In this paper, an integrated path planning and tracking algorithm are presented. The proposed cascade structure consists of two parts. The outer loop is a predictive, optimization-based yaw rate reference planner that uses a path-based coordinate system handling the reference track as boundary constraints, seeking to find the maneuver with the possible minimal control effort. The inner loop is responsible for the lateral and longitudinal movement ensuring robustness against parameter changes and disturbances, using the Internal Model Control structure. The algorithm includes a minimal number of tuning parameters as the lateral planner path uses a physical phenomenon as a cost function. The effectiveness of the proposed structure is illustrated by simulation results. The algorithm was implemented in a real-time environment, and the tests performed on the Lotus Evora test vehicle developed by ThyssenKrupp are examined and evaluated.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Integrated Path Planning and Lateral-Longitudinal Control for Autonomous Electric Vehicles


    Beteiligte:
    Kovacs, Adorjan (Autor:in) / Vajk, Istvan (Autor:in)


    Erscheinungsdatum :

    17.11.2021


    Format / Umfang :

    2309816 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Integrated lateral and longitudinal control system for autonomous vehicles

    Bae, Il / Jaeyoung Moon / Jaekwang Cha et al. | IEEE | 2014



    LONGITUDINAL AND LATERAL CONTROL FOR AUTONOMOUS GROUND VEHICLES

    Filho, C. / Wolf, D. / Grassi, V. et al. | British Library Conference Proceedings | 2014


    Longitudinal and lateral control for autonomous ground vehicles

    Filho, Carlos Massera / Wolf, Denis F. / Grassi, Valdir et al. | IEEE | 2014