A novel hierarchical model predictive control (MPC) method is investigated for four-wheel-independently-actuated (FWIA) autonomous ground vehicles (AGVs) with emergency collision avoidance in this paper, where an artificial potential field (APF)-based NMPC path replanner and a feedback compensation control (FCC)-based LTV-MPC path follower are designed. Both replanning with circle decomposition of vehicle shape, and tracking with tire force maximization, are considered simultaneously to enlarge the reachable zone of path replanning and following, particularly in much aggressive situations, where the trajectories are not feasible with the conventional approaches. By the proposed control, ample space and sufficient time are available to steer appropriately and acceleratelbrake independently in such hazardous scenarios. In addition, a shorter predictive horizon is introduced to evaluate both methods in more extreme situations. The simulations modeled in the Carsim-Simulink joint platform demonstrate that the proposed approach can further improve path-replanning reachability and path-following safety in emergency collision avoidance scenarios, even in a shortsighted prediction.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    An Integrated MPC Approach for FWIA Autonomous Ground Vehicles with Emergency Collision Avoidance


    Beteiligte:
    Cao, Mingcong (Autor:in) / Wang, Rongrong (Autor:in) / Wang, Jinxiang (Autor:in) / Chen, Nan (Autor:in)


    Erscheinungsdatum :

    2018-11-01


    Format / Umfang :

    1665554 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Integrated Steering and Differential Braking for Emergency Collision Avoidance in Autonomous Vehicles

    Hajiloo, Reza / Abroshan, Mehdi / Khajepour, Amir et al. | IEEE | 2021


    Autonomous Collision Avoidance of flying Vehicles

    Szu, Harold / Krapels, Keith | AIAA | 2007


    Collision avoidance method for autonomous vehicles

    KIM KI HYUK | Europäisches Patentamt | 2021

    Freier Zugriff

    Door collision avoidance of autonomous vehicles and semi-autonomous vehicles

    NOREN CHRISTOFFER / ASTROM MICHAEL / ALAM ASHRAFUL et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    COLLISION-AVOIDANCE SYSTEM FOR AUTONOMOUS-CAPABLE VEHICLES

    GRAY ANDREW | Europäisches Patentamt | 2024

    Freier Zugriff