Autonomous driving functions have gained great interests from both academia and industry over the years. This paper proposes a Model Predictive Control based method to generate a safe and feasible trajectory for the ego vehicle to perform various lateral maneuvers and to produce optimized control inputs to guide the ego vehicle through a mixed traffic environment with both human drivers and autonomous vehicle. A novel reference speed generation function is proposed to automatically adjust the position of the ego vehicle before the initiation of any lateral maneuvers. After a proper gap is selected, the lateral maneuver initiation function with an add-on threshold function is introduced to ensure the safety of the maneuver and to enable the ego vehicle to automatically start or stop the lateral maneuver. A nonlinear and high fidelity tire model is utilized in the simulation to validate the algorithm and the simulation results show that various maneuvers can be successfully achieved without re-tuning the weights or changing the parameters of the controller.


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    Title :

    Autonomous Lateral Maneuvers for Self-Driving Vehicles in Complex Traffic Environment


    Contributors:
    Li, Zhaolun (author) / Jiang, Jingjing (author) / Chen, Wen-Hua (author) / Sun, Liang (author)

    Published in:

    Publication date :

    2023-02-01


    Size :

    1484756 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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